{"id":"https://openalex.org/W4389667011","doi":"https://doi.org/10.1109/iros55552.2023.10342378","title":"Design of Novel Knee Joint Mechanism of Lower-Limb Exoskeleton to Realize Spatial Motion of Human Knee","display_name":"Design of Novel Knee Joint Mechanism of Lower-Limb Exoskeleton to Realize Spatial Motion of Human Knee","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389667011","doi":"https://doi.org/10.1109/iros55552.2023.10342378"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10342378","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/iros55552.2023.10342378","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5008803730","display_name":"Man Bok Hong","orcid":"https://orcid.org/0000-0001-8028-3730"},"institutions":[{"id":"https://openalex.org/I2801036362","display_name":"Agency for Defense Development","ror":"https://ror.org/05fhe0r85","country_code":"KR","type":"government","lineage":["https://openalex.org/I1327899338","https://openalex.org/I1344042128","https://openalex.org/I2801036362","https://openalex.org/I2801339556"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Man Bok Hong","raw_affiliation_strings":["Agency for Defense Development,Daejeon,Republic of Korea,34186"],"affiliations":[{"raw_affiliation_string":"Agency for Defense Development,Daejeon,Republic of Korea,34186","institution_ids":["https://openalex.org/I2801036362"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102002616","display_name":"Yongcheol Kim","orcid":"https://orcid.org/0000-0003-2274-0803"},"institutions":[{"id":"https://openalex.org/I2801036362","display_name":"Agency for Defense Development","ror":"https://ror.org/05fhe0r85","country_code":"KR","type":"government","lineage":["https://openalex.org/I1327899338","https://openalex.org/I1344042128","https://openalex.org/I2801036362","https://openalex.org/I2801339556"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Yongcheol Kim","raw_affiliation_strings":["Agency for Defense Development,Daejeon,Republic of Korea,34186"],"affiliations":[{"raw_affiliation_string":"Agency for Defense Development,Daejeon,Republic of Korea,34186","institution_ids":["https://openalex.org/I2801036362"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067505238","display_name":"Gwang Tae Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I2801036362","display_name":"Agency for Defense Development","ror":"https://ror.org/05fhe0r85","country_code":"KR","type":"government","lineage":["https://openalex.org/I1327899338","https://openalex.org/I1344042128","https://openalex.org/I2801036362","https://openalex.org/I2801339556"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Gwang Tae Kim","raw_affiliation_strings":["Agency for Defense Development,Daejeon,Republic of Korea,34186"],"affiliations":[{"raw_affiliation_string":"Agency for Defense Development,Daejeon,Republic of Korea,34186","institution_ids":["https://openalex.org/I2801036362"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088736397","display_name":"Myunghyun Lee","orcid":"https://orcid.org/0000-0001-9982-1981"},"institutions":[{"id":"https://openalex.org/I2801036362","display_name":"Agency for Defense Development","ror":"https://ror.org/05fhe0r85","country_code":"KR","type":"government","lineage":["https://openalex.org/I1327899338","https://openalex.org/I1344042128","https://openalex.org/I2801036362","https://openalex.org/I2801339556"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Myunghyun Lee","raw_affiliation_strings":["Agency for Defense Development,Daejeon,Republic of Korea,34186"],"affiliations":[{"raw_affiliation_string":"Agency for Defense Development,Daejeon,Republic of Korea,34186","institution_ids":["https://openalex.org/I2801036362"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101666075","display_name":"Seonwoo Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I2801036362","display_name":"Agency for Defense Development","ror":"https://ror.org/05fhe0r85","country_code":"KR","type":"government","lineage":["https://openalex.org/I1327899338","https://openalex.org/I1344042128","https://openalex.org/I2801036362","https://openalex.org/I2801339556"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Seonwoo Kim","raw_affiliation_strings":["Agency for Defense Development,Daejeon,Republic of Korea,34186"],"affiliations":[{"raw_affiliation_string":"Agency for Defense Development,Daejeon,Republic of Korea,34186","institution_ids":["https://openalex.org/I2801036362"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5008803730"],"corresponding_institution_ids":["https://openalex.org/I2801036362"],"apc_list":null,"apc_paid":null,"fwci":0.1125,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.43000944,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"2419","last_page":"2425"},"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":0.9958999752998352,"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/T10562","display_name":"Total Knee Arthroplasty Outcomes","score":0.9904000163078308,"subfield":{"id":"https://openalex.org/subfields/2746","display_name":"Surgery"},"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/revolute-joint","display_name":"Revolute joint","score":0.7629841566085815},{"id":"https://openalex.org/keywords/knee-joint","display_name":"Knee Joint","score":0.7377957105636597},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.7012349963188171},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6874238848686218},{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.6645851135253906},{"id":"https://openalex.org/keywords/screw-axis","display_name":"Screw axis","score":0.4673965871334076},{"id":"https://openalex.org/keywords/instant-centre-of-rotation","display_name":"Instant centre of rotation","score":0.4630314111709595},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4492095410823822},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.4192306399345398},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.41236376762390137},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.30781179666519165},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2679600715637207},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.22645887732505798},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.2170301079750061},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17935389280319214},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.15924841165542603},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.1162756085395813},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10092920064926147},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.0828576385974884},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.07197117805480957}],"concepts":[{"id":"https://openalex.org/C5643039","wikidata":"https://www.wikidata.org/wiki/Q3819341","display_name":"Revolute joint","level":3,"score":0.7629841566085815},{"id":"https://openalex.org/C2908736133","wikidata":"https://www.wikidata.org/wiki/Q37425","display_name":"Knee Joint","level":2,"score":0.7377957105636597},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.7012349963188171},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6874238848686218},{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.6645851135253906},{"id":"https://openalex.org/C120568717","wikidata":"https://www.wikidata.org/wiki/Q7439094","display_name":"Screw axis","level":2,"score":0.4673965871334076},{"id":"https://openalex.org/C76724020","wikidata":"https://www.wikidata.org/wiki/Q1429043","display_name":"Instant centre of rotation","level":3,"score":0.4630314111709595},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4492095410823822},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.4192306399345398},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.41236376762390137},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.30781179666519165},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2679600715637207},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.22645887732505798},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2170301079750061},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17935389280319214},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.15924841165542603},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.1162756085395813},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10092920064926147},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0828576385974884},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.07197117805480957},{"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/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros55552.2023.10342378","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/iros55552.2023.10342378","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W189187075","https://openalex.org/W1554218242","https://openalex.org/W1970407444","https://openalex.org/W2004573455","https://openalex.org/W2005997803","https://openalex.org/W2028060274","https://openalex.org/W2032577117","https://openalex.org/W2035615198","https://openalex.org/W2065910188","https://openalex.org/W2108775281","https://openalex.org/W2114570024","https://openalex.org/W2145965127","https://openalex.org/W2150376634","https://openalex.org/W2166978470","https://openalex.org/W2168256556","https://openalex.org/W2408945615","https://openalex.org/W2520090303","https://openalex.org/W2562068770","https://openalex.org/W2588848587","https://openalex.org/W2618117768","https://openalex.org/W2734882546","https://openalex.org/W2735543790","https://openalex.org/W2782271766","https://openalex.org/W2807889903","https://openalex.org/W2888944421","https://openalex.org/W2909895055","https://openalex.org/W3089464620","https://openalex.org/W3172749233"],"related_works":["https://openalex.org/W2482353049","https://openalex.org/W2069152157","https://openalex.org/W2585579763","https://openalex.org/W2765167945","https://openalex.org/W2068735627","https://openalex.org/W4206728333","https://openalex.org/W4390629005","https://openalex.org/W2509275919","https://openalex.org/W1993102599","https://openalex.org/W2802587944"],"abstract_inverted_index":{"The":[0,89],"rotation":[1,104,118,129,169,207,210],"axis":[2,196,208,243,249],"of":[3,26,55,86,91,102,114,117,125,151,183,212,220,231,244,250],"human":[4,15,56],"knee":[5,10,16,43,57,66,83,93,103,123,133,149,160,172,184,251],"joint":[6,44,67,84,150],"varies":[7],"according":[8],"to":[9,63,80,98,143,158,176,193,204,236],"flexion":[11,134,173,185],"angles.":[12,186],"That":[13,120],"is,":[14,121],"movement":[17],"is":[18,94,153,174,191,215,223],"spatial":[19],"with":[20,33,45],"dominant":[21],"flexional":[22],"rotation.":[23,252],"Knee":[24],"joints":[25],"most":[27],"lower-limb":[28],"exoskeletons":[29],"were,":[30],"however,":[31,108],"realized":[32,137],"a":[34,46,95,146,177,181,260],"simple":[35,47,65],"revolute":[36,48],"pair":[37,49],"for":[38],"design":[39,262],"simplicity.":[40],"Wearing":[41],"the":[42,64,82,87,100,111,164,195,199,218,226,232,241,247,256],"constrains":[50],"inevitably":[51],"natural":[52],"parasitic":[53,122],"motion":[54],"joint.":[58],"Rigid":[59],"constraints":[60],"imposed":[61],"due":[62],"lowers":[68],"wearability":[69],"and":[70,127,209,246],"comfortability.":[71],"In":[72,141],"addition,":[73],"it":[74],"may":[75],"act":[76],"as":[77,180],"potential":[78],"risks":[79],"harm":[81],"structure":[85],"wearer.":[88],"concept":[90],"polycentric":[92,139],"well-known":[96],"approach":[97],"mimic":[99],"variation":[101],"center.":[105],"Polycentric":[106],"knees,":[107],"realize":[109,159,194],"only":[110],"planar":[112],"trace":[113,179],"projected":[115],"points":[116],"axis.":[119],"rotations":[124],"varus":[126],"internal":[128],"occuring":[130],"naturally":[131],"during":[132,171],"cannot":[135],"be":[136],"by":[138],"knees.":[140],"order":[142],"resolve":[144],"this,":[145],"novel":[147],"spherical":[148,161,178,188],"exoskeleton":[152],"introduced":[154,264],"in":[155,167,265],"this":[156,266],"paper":[157],"movements.":[162],"For":[163],"design,":[165],"change":[166],"instantaneous":[168,206,242],"axes":[170],"formulated":[175],"function":[182],"A":[187,202],"four-bar":[189],"linkage":[190],"suggested":[192],"trajectory,":[197],"not":[198],"point":[200],"trace.":[201],"method":[203],"find":[205],"matrix":[211],"coupler":[213,245],"link":[214,222],"derived,":[216],"when":[217],"angle":[219,238],"input":[221],"given.":[224],"Using":[225],"kinematic":[227,229,258],"relations,":[228],"parameters":[230],"mechanism":[233],"are":[234],"optimized":[235],"minimize":[237],"difference":[239],"between":[240],"required":[248],"Finally,":[253],"based":[254],"on":[255],"synthesized":[257],"parameters,":[259],"prototype":[261],"was":[263],"paper.":[267]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2026-01-13T01:12:25.745995","created_date":"2025-10-10T00:00:00"}