{"id":"https://openalex.org/W4405272103","doi":"https://doi.org/10.1109/i-create62067.2024.10776456","title":"Design of a Rigid-Flexible Hybrid Bionic Lower Limb Robot","display_name":"Design of a Rigid-Flexible Hybrid Bionic Lower Limb Robot","publication_year":2024,"publication_date":"2024-08-23","ids":{"openalex":"https://openalex.org/W4405272103","doi":"https://doi.org/10.1109/i-create62067.2024.10776456"},"language":"en","primary_location":{"id":"doi:10.1109/i-create62067.2024.10776456","is_oa":false,"landing_page_url":"https://doi.org/10.1109/i-create62067.2024.10776456","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 17th International Convention on Rehabilitation Engineering and Assistive Technology (i-CREATe)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5020307082","display_name":"Bin Xin","orcid":"https://orcid.org/0000-0001-9989-0418"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bao Xin","raw_affiliation_strings":["School of mechanical and electrical engineering, Harbin Engineering University,Harbin,China,150001"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of mechanical and electrical engineering, Harbin Engineering University,Harbin,China,150001","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Wang Keyi","orcid":null},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wang Keyi","raw_affiliation_strings":["Harbin Engineering University, engage in rehabilitation robot technology, mechatronics technology research work,Harbin,China,150001"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harbin Engineering University, engage in rehabilitation robot technology, mechatronics technology research work,Harbin,China,150001","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5115395498","display_name":"Huang Yuehua","orcid":null},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huang Yuehua","raw_affiliation_strings":["School of mechanical and electrical engineering, Harbin Engineering University,Harbin,China,150001"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of mechanical and electrical engineering, Harbin Engineering University,Harbin,China,150001","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100613791","display_name":"Min Li","orcid":"https://orcid.org/0000-0002-6247-0388"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Li Min","raw_affiliation_strings":["School of mechanical and electrical engineering, Harbin Engineering University,Harbin,China,150001"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of mechanical and electrical engineering, Harbin Engineering University,Harbin,China,150001","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5115395499","display_name":"Li Jinghang","orcid":null},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Li Jinghang","raw_affiliation_strings":["School of mechanical and electrical engineering, Harbin Engineering University,Harbin,China,150001"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of mechanical and electrical engineering, Harbin Engineering University,Harbin,China,150001","institution_ids":["https://openalex.org/I151727225"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I151727225"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.40980188,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9940999746322632,"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":0.9940999746322632,"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":0.9617999792098999,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9513000249862671,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.582960844039917},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5749716758728027},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.26362425088882446}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.582960844039917},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5749716758728027},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.26362425088882446}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/i-create62067.2024.10776456","is_oa":false,"landing_page_url":"https://doi.org/10.1109/i-create62067.2024.10776456","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 17th International Convention on Rehabilitation Engineering and Assistive Technology (i-CREATe)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5899999737739563,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1556069442","https://openalex.org/W2090782451","https://openalex.org/W2291885199","https://openalex.org/W2533359675","https://openalex.org/W2735658880","https://openalex.org/W2904808774","https://openalex.org/W2965558579","https://openalex.org/W2970489687","https://openalex.org/W3112887513","https://openalex.org/W3113344583","https://openalex.org/W4285102296","https://openalex.org/W4285130050"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"Against":[0],"the":[1,4,86,98,113,124,133,140,147,156,167,176,183,193,196,202,208,218],"backdrop":[2],"of":[3,61,75,101,123,139,146,161,163,217],"intensifying":[5],"aging":[6],"population,":[7],"there":[8],"exists":[9],"a":[10,67,73],"large":[11,56],"patient":[12],"population":[13],"with":[14,32,72],"lower":[15,24,33,50,69,115,141,149,168,185,197,220],"limb":[16,25,34,70,116,150,186,198,221],"movement":[17],"dysfunctions":[18],"who":[19],"require":[20],"rehabilitation":[21,35,43,82],"training.":[22,44],"Bionic":[23],"robots":[26],"can":[27],"be":[28],"used":[29],"in":[30,166,204],"conjunction":[31],"robot":[36,71,151,187],"systems":[37],"based":[38,174],"on":[39,89,97,175],"bilateral":[40],"control":[41,60],"for":[42,80,112,182],"However,":[45],"traditional":[46],"rigid":[47,76],"serial":[48],"bionic":[49,68,114,148,184,219],"limbs":[51],"face":[52],"issues":[53],"such":[54],"as":[55],"impacts":[57],"and":[58,77,85,104,136,159,201,224],"insufficient":[59],"compliant":[62],"motion.":[63],"On":[64],"this":[65],"premise,":[66],"combination":[74],"flexible":[78,190],"linkages":[79],"remote":[81],"is":[83,92,117,127,152,180,222,227],"proposed,":[84],"following":[87],"work":[88],"its":[90],"model":[91,122,216],"carried":[93,228],"out:":[94],"1)":[95],"Based":[96],"design":[99],"concept":[100],"rigid-flexible":[102],"coupling":[103],"separated":[105],"actuator":[106],"constraints,":[107],"an":[108],"overall":[109],"actuation":[110],"scheme":[111],"established.":[118],"A":[119,171,213],"dynamic":[120,215,225],"musculoskeletal":[121],"human":[125],"body":[126],"created":[128],"using":[129,230],"OpenSim":[130],"to":[131,155],"analyze":[132],"physiological":[134],"structure":[135,145],"motion":[137,199,210],"mechanism":[138],"limbs.":[142,169],"2)":[143],"The":[144],"designed":[153],"according":[154],"size,":[157],"mass,":[158],"degrees":[160],"freedom":[162],"each":[164],"joint":[165],"3)":[170],"kinematic":[172],"analysis":[173],"Denavit-Hartenberg":[177],"(D-H)":[178],"method":[179],"conducted":[181],"driven":[188],"by":[189],"cables,":[191],"exploring":[192],"relationship":[194],"between":[195],"trajectory":[200],"changes":[203],"cable":[205],"length":[206],"during":[207],"gait":[209],"process.":[211],"4)":[212],"Lagrangian":[214],"established,":[223],"simulation":[226],"out":[229],"Adams.":[231]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
