{"id":"https://openalex.org/W2908573648","doi":"https://doi.org/10.1109/cbs.2018.8612270","title":"Concept and Prototype Design of an Underwater Soft Exoskeleton","display_name":"Concept and Prototype Design of an Underwater Soft Exoskeleton","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2908573648","doi":"https://doi.org/10.1109/cbs.2018.8612270","mag":"2908573648"},"language":"en","primary_location":{"id":"doi:10.1109/cbs.2018.8612270","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cbs.2018.8612270","pdf_url":null,"source":{"id":"https://openalex.org/S4306498323","display_name":"2018 IEEE International Conference on Cyborg and Bionic Systems (CBS)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Cyborg and Bionic Systems (CBS)","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/A5100726046","display_name":"Zhendong Zhang","orcid":"https://orcid.org/0000-0002-1287-4392"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhendong Zhang","raw_affiliation_strings":["Robotics Research Group, Peking University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Robotics Research Group, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005534674","display_name":"Zhihao Zhou","orcid":"https://orcid.org/0000-0003-3936-3717"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhihao Zhou","raw_affiliation_strings":["Robotics Research Group, Peking University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Robotics Research Group, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032907893","display_name":"Enhao Zheng","orcid":"https://orcid.org/0000-0002-8819-0130"},"institutions":[{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Enhao Zheng","raw_affiliation_strings":["State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Beijing, China","institution_ids":["https://openalex.org/I4210094879"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005881626","display_name":"Yalei Zhou","orcid":null},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yalei Zhou","raw_affiliation_strings":["Robotics Research Group, Peking University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Robotics Research Group, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002312405","display_name":"Shi-Chang Zhang","orcid":"https://orcid.org/0000-0002-6587-2518"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shichang Zhang","raw_affiliation_strings":["Robotics Research Group, Peking University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Robotics Research Group, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066084206","display_name":"Jingeng Mai","orcid":"https://orcid.org/0000-0003-4289-0382"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jingeng Mai","raw_affiliation_strings":["Robotics Research Group, Peking University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Robotics Research Group, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025723618","display_name":"Qining Wang","orcid":"https://orcid.org/0000-0003-3484-4810"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qining Wang","raw_affiliation_strings":["Robotics Research Group, Peking University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Robotics Research Group, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5100726046"],"corresponding_institution_ids":["https://openalex.org/I20231570"],"apc_list":null,"apc_paid":null,"fwci":1.7526,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.84861834,"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":"139","last_page":"143"},"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":0.9919999837875366,"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/T10114","display_name":"Balance, Gait, and Falls Prevention","score":0.9782000184059143,"subfield":{"id":"https://openalex.org/subfields/3612","display_name":"Physical Therapy, Sports Therapy and Rehabilitation"},"field":{"id":"https://openalex.org/fields/36","display_name":"Health Professions"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.71623295545578},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.6742913722991943},{"id":"https://openalex.org/keywords/tilt","display_name":"Tilt (camera)","score":0.6023471355438232},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5553751587867737},{"id":"https://openalex.org/keywords/sagittal-plane","display_name":"Sagittal plane","score":0.45986318588256836},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4577227532863617},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.4131857752799988},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3992364704608917},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.37246954441070557},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.32589420676231384},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.2372223436832428},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.20105847716331482},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.13448050618171692},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.1281769573688507}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.71623295545578},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.6742913722991943},{"id":"https://openalex.org/C2779844322","wikidata":"https://www.wikidata.org/wiki/Q2919140","display_name":"Tilt (camera)","level":2,"score":0.6023471355438232},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5553751587867737},{"id":"https://openalex.org/C178910020","wikidata":"https://www.wikidata.org/wiki/Q2211994","display_name":"Sagittal plane","level":2,"score":0.45986318588256836},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4577227532863617},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.4131857752799988},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3992364704608917},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.37246954441070557},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.32589420676231384},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.2372223436832428},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.20105847716331482},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.13448050618171692},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.1281769573688507},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cbs.2018.8612270","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cbs.2018.8612270","pdf_url":null,"source":{"id":"https://openalex.org/S4306498323","display_name":"2018 IEEE International Conference on Cyborg and Bionic Systems (CBS)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Cyborg and Bionic Systems (CBS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","id":"https://metadata.un.org/sdg/14","score":0.8600000143051147}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W600179973","https://openalex.org/W2002161214","https://openalex.org/W2043137231","https://openalex.org/W2044143754","https://openalex.org/W2055823008","https://openalex.org/W2058074226","https://openalex.org/W2070825536","https://openalex.org/W2089826029","https://openalex.org/W2091792392","https://openalex.org/W2102046115","https://openalex.org/W2105236479","https://openalex.org/W2112427939","https://openalex.org/W2114722420","https://openalex.org/W2127927857","https://openalex.org/W2150776941","https://openalex.org/W2169410184","https://openalex.org/W2344043336","https://openalex.org/W2615664088","https://openalex.org/W2783574669","https://openalex.org/W3147825138","https://openalex.org/W4229754456","https://openalex.org/W6661266258"],"related_works":["https://openalex.org/W2901258812","https://openalex.org/W2887985348","https://openalex.org/W2401700601","https://openalex.org/W2570835373","https://openalex.org/W2557545276","https://openalex.org/W4387054232","https://openalex.org/W3198063775","https://openalex.org/W1553696796","https://openalex.org/W2753647732","https://openalex.org/W2061574963"],"abstract_inverted_index":{"In":[0],"this":[1,19],"paper,":[2],"we":[3,21,95],"proposed":[4,103,171],"the":[5,23,32,52,55,63,66,72,76,79,82,93,102,123,131,156,160,167,170],"concept":[6],"of":[7,43,54,65,75,92,130,159,169],"underwater":[8,175],"soft":[9,69,104],"exoskeleton":[10],"which":[11],"could":[12],"provide":[13,86],"assistance":[14,87,117],"to":[15,30,85,88,100,110],"swimming":[16],"motions.":[17],"With":[18,137],"motivation,":[20],"designed":[22],"first":[24],"version":[25],"prototype":[26],"called":[27],"Powered":[28,172],"Swimsuit":[29,173],"assist":[31],"wearer":[33],"in":[34,150,174],"fin":[35],"swimming.":[36],"The":[37,57,106,163],"actuator":[38],"system":[39],"was":[40,49,60,108],"embedded":[41],"inside":[42],"a":[44],"portable":[45],"water-proof":[46],"cabin":[47],"that":[48],"fabricated":[50],"on":[51,62],"back":[53],"swimsuit.":[56],"assistive":[58],"force":[59],"applied":[61],"bottom":[64],"fins":[67],"via":[68],"cables.":[70],"During":[71],"propelling":[73],"period":[74],"stroke":[77],"cycle,":[78],"cables":[80],"pulled":[81],"ankle":[83],"joints":[84],"plantarflexions.":[89],"After":[90],"implementation":[91],"prototype,":[94],"carried":[96],"out":[97],"initial":[98],"experiment":[99],"test":[101],"exoskeleton.":[105],"subject":[107],"asked":[109],"swim":[111],"with":[112],"frog":[113],"kicks":[114],"under":[115],"two":[116],"levels.":[118],"Several":[119],"kinematic":[120],"parameters":[121],"including":[122],"tilt":[124,142],"angles,":[125],"accelerations":[126],"and":[127,144],"angular":[128,151],"velocities":[129,152],"lower":[132],"extremities":[133],"were":[134,153],"recorded":[135],"simultaneously.":[136],"higher":[138],"assistance,":[139],"larger":[140,146],"absolute":[141],"angles":[143],"accelerations,":[145],"signal":[147],"profile":[148],"changes":[149],"found":[154],"within":[155],"sagittal":[157],"plane":[158],"measured":[161],"foot.":[162],"preliminary":[164],"results":[165],"showed":[166],"feasibility":[168],"motion":[176],"assistance.":[177]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2026-03-25T13:04:00.132906","created_date":"2025-10-10T00:00:00"}