{"id":"https://openalex.org/W4312299332","doi":"https://doi.org/10.1109/icarm54641.2022.9959419","title":"Mechanical Design and Experimental Validation of a Variable Stiffness Ankle Exoskeleton","display_name":"Mechanical Design and Experimental Validation of a Variable Stiffness Ankle Exoskeleton","publication_year":2022,"publication_date":"2022-07-09","ids":{"openalex":"https://openalex.org/W4312299332","doi":"https://doi.org/10.1109/icarm54641.2022.9959419"},"language":"en","primary_location":{"id":"doi:10.1109/icarm54641.2022.9959419","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm54641.2022.9959419","pdf_url":null,"source":{"id":"https://openalex.org/S4363608069","display_name":"2022 International Conference on Advanced Robotics and Mechatronics (ICARM)","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":"2022 International Conference on Advanced Robotics and Mechatronics (ICARM)","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/A5100409881","display_name":"Jian Zhang","orcid":"https://orcid.org/0000-0001-7584-3799"},"institutions":[{"id":"https://openalex.org/I4391767905","display_name":"State Key Laboratory of Digital Manufacturing Equipment and Technology","ror":"https://ror.org/004z1wz18","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391767905","https://openalex.org/I47720641"]},{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jian Zhang","raw_affiliation_strings":["Huazhong University of Science and Technology,State Key Lab of Digital Manufacturing Equipment and Technology,Wuhan,China,430074"],"affiliations":[{"raw_affiliation_string":"Huazhong University of Science and Technology,State Key Lab of Digital Manufacturing Equipment and Technology,Wuhan,China,430074","institution_ids":["https://openalex.org/I47720641","https://openalex.org/I4391767905"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101852636","display_name":"Wenchao Dong","orcid":"https://orcid.org/0000-0002-7609-570X"},"institutions":[{"id":"https://openalex.org/I4391767905","display_name":"State Key Laboratory of Digital Manufacturing Equipment and Technology","ror":"https://ror.org/004z1wz18","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391767905","https://openalex.org/I47720641"]},{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenchao Dong","raw_affiliation_strings":["Huazhong University of Science and Technology,State Key Lab of Digital Manufacturing Equipment and Technology,Wuhan,China,430074"],"affiliations":[{"raw_affiliation_string":"Huazhong University of Science and Technology,State Key Lab of Digital Manufacturing Equipment and Technology,Wuhan,China,430074","institution_ids":["https://openalex.org/I47720641","https://openalex.org/I4391767905"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100770696","display_name":"Caihua Xiong","orcid":"https://orcid.org/0000-0003-2326-0289"},"institutions":[{"id":"https://openalex.org/I4391767905","display_name":"State Key Laboratory of Digital Manufacturing Equipment and Technology","ror":"https://ror.org/004z1wz18","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391767905","https://openalex.org/I47720641"]},{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Caihua Xiong","raw_affiliation_strings":["Huazhong University of Science and Technology,State Key Lab of Digital Manufacturing Equipment and Technology,Wuhan,China,430074"],"affiliations":[{"raw_affiliation_string":"Huazhong University of Science and Technology,State Key Lab of Digital Manufacturing Equipment and Technology,Wuhan,China,430074","institution_ids":["https://openalex.org/I47720641","https://openalex.org/I4391767905"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100418225","display_name":"Qin Zhang","orcid":"https://orcid.org/0000-0002-7083-8947"},"institutions":[{"id":"https://openalex.org/I4391767905","display_name":"State Key Laboratory of Digital Manufacturing Equipment and Technology","ror":"https://ror.org/004z1wz18","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391767905","https://openalex.org/I47720641"]},{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qin Zhang","raw_affiliation_strings":["Huazhong University of Science and Technology,State Key Lab of Digital Manufacturing Equipment and Technology,Wuhan,China,430074"],"affiliations":[{"raw_affiliation_string":"Huazhong University of Science and Technology,State Key Lab of Digital Manufacturing Equipment and Technology,Wuhan,China,430074","institution_ids":["https://openalex.org/I47720641","https://openalex.org/I4391767905"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100409881"],"corresponding_institution_ids":["https://openalex.org/I4391767905","https://openalex.org/I47720641"],"apc_list":null,"apc_paid":null,"fwci":0.3214,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.503621,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"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":0.9998999834060669,"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":0.988099992275238,"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":0.9190000295639038,"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":0.9377871751785278},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.7952408790588379},{"id":"https://openalex.org/keywords/ankle","display_name":"Ankle","score":0.7820967435836792},{"id":"https://openalex.org/keywords/joint-stiffness","display_name":"Joint stiffness","score":0.5260988473892212},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.509257435798645},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48560208082199097},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.3450070023536682},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.336190789937973},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.3236451745033264},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.312857985496521},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.121910959482193},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07802367210388184}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.9377871751785278},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.7952408790588379},{"id":"https://openalex.org/C2778640784","wikidata":"https://www.wikidata.org/wiki/Q168002","display_name":"Ankle","level":2,"score":0.7820967435836792},{"id":"https://openalex.org/C2781415944","wikidata":"https://www.wikidata.org/wiki/Q559210","display_name":"Joint stiffness","level":3,"score":0.5260988473892212},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.509257435798645},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48560208082199097},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.3450070023536682},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.336190789937973},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.3236451745033264},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.312857985496521},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.121910959482193},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07802367210388184},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarm54641.2022.9959419","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm54641.2022.9959419","pdf_url":null,"source":{"id":"https://openalex.org/S4363608069","display_name":"2022 International Conference on Advanced Robotics and Mechatronics (ICARM)","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":"2022 International Conference on Advanced Robotics and Mechatronics (ICARM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.7900000214576721}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1969734254","https://openalex.org/W1983801397","https://openalex.org/W2026523445","https://openalex.org/W2028278123","https://openalex.org/W2029028294","https://openalex.org/W2031661757","https://openalex.org/W2058074226","https://openalex.org/W2063887748","https://openalex.org/W2070825536","https://openalex.org/W2123950545","https://openalex.org/W2513139564","https://openalex.org/W2888213161","https://openalex.org/W2889819301","https://openalex.org/W2906162963","https://openalex.org/W2936856903","https://openalex.org/W3027422657","https://openalex.org/W3035390057","https://openalex.org/W3091661330","https://openalex.org/W3134323936","https://openalex.org/W3139333197","https://openalex.org/W6726171501","https://openalex.org/W6791292416","https://openalex.org/W6792197488"],"related_works":["https://openalex.org/W2083759350","https://openalex.org/W3133687580","https://openalex.org/W2021098562","https://openalex.org/W1566538768","https://openalex.org/W2018616004","https://openalex.org/W1897710365","https://openalex.org/W2317038355","https://openalex.org/W2942851934","https://openalex.org/W2115251065","https://openalex.org/W4386883573"],"abstract_inverted_index":{"The":[0],"ankle":[1,22,48,56,74,108],"joint":[2,49],"plays":[3],"an":[4,55],"important":[5],"role":[6],"in":[7,29,101],"providing":[8],"propulsion":[9],"and":[10,97],"absorbing":[11,102],"ground":[12,104],"impact":[13,105],"through":[14],"dynamic":[15],"stiffness":[16,30,43,63,75,92],"adjustment.":[17],"In":[18],"comparison,":[19],"the":[20,34,38,42,46,73,78,85,90,103],"present":[21],"exoskeleton":[23,57,87],"has":[24],"no":[25],"or":[26],"limited":[27],"ability":[28],"adjustment":[31],"which":[32],"constrains":[33],"compliant":[35],"performance":[36],"of":[37,45,62,77],"exoskeleton.":[39],"Inspired":[40],"by":[41],"characteristics":[44,76],"human":[47,107],"during":[50],"walking,":[51],"this":[52],"paper":[53],"proposes":[54],"allowing":[58],"a":[59],"wide":[60],"range":[61],"adjustments.":[64],"A":[65],"bi-directional":[66],"spring":[67],"mechanism":[68],"is":[69,99],"designed":[70],"to":[71],"reproduce":[72],"healthy":[79],"person.":[80],"Experimental":[81],"results":[82],"show":[83],"that":[84],"proposed":[86],"can":[88],"provide":[89],"required":[91],"without":[93],"interfering":[94],"with":[95],"walking":[96],"it":[98],"effective":[100],"as":[106],"does.":[109]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}