{"id":"https://openalex.org/W4416748049","doi":"https://doi.org/10.1109/iros60139.2025.11247763","title":"Bi-directional Cable-driven Ankle Exoskeleton Coupled with Series Elastic Actuator for Compliant Gait Assisting <sup>*</sup>","display_name":"Bi-directional Cable-driven Ankle Exoskeleton Coupled with Series Elastic Actuator for Compliant Gait Assisting <sup>*</sup>","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416748049","doi":"https://doi.org/10.1109/iros60139.2025.11247763"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11247763","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247763","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5011879863","display_name":"Yao Tu","orcid":"https://orcid.org/0000-0002-0570-8855"},"institutions":[{"id":"https://openalex.org/I4210136793","display_name":"Peng Cheng Laboratory","ror":"https://ror.org/03qdqbt06","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210136793"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yao Tu","raw_affiliation_strings":["Guangdong Laboratory of Artificial Intelligence and Digital Economy (SZ),Shenzhen,China,518107"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Guangdong Laboratory of Artificial Intelligence and Digital Economy (SZ),Shenzhen,China,518107","institution_ids":["https://openalex.org/I4210136793"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059555561","display_name":"Jiyuan Song","orcid":null},"institutions":[{"id":"https://openalex.org/I4210136793","display_name":"Peng Cheng Laboratory","ror":"https://ror.org/03qdqbt06","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210136793"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiyuan Song","raw_affiliation_strings":["Guangdong Laboratory of Artificial Intelligence and Digital Economy (SZ),Shenzhen,China,518107"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Guangdong Laboratory of Artificial Intelligence and Digital Economy (SZ),Shenzhen,China,518107","institution_ids":["https://openalex.org/I4210136793"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082722944","display_name":"Aibin Zhu","orcid":"https://orcid.org/0000-0002-6346-4932"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Aibin Zhu","raw_affiliation_strings":["Xi'an Jiaotong University,Institute of Robotics &#x0026; Intelligent Systems,Xi'an,China,710049"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Xi'an Jiaotong University,Institute of Robotics &#x0026; Intelligent Systems,Xi'an,China,710049","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100460212","display_name":"Bo Zhang","orcid":"https://orcid.org/0000-0002-8119-5000"},"institutions":[{"id":"https://openalex.org/I4210136793","display_name":"Peng Cheng Laboratory","ror":"https://ror.org/03qdqbt06","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210136793"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bo Zhang","raw_affiliation_strings":["Guangdong Laboratory of Artificial Intelligence and Digital Economy (SZ),Shenzhen,China,518107"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Guangdong Laboratory of Artificial Intelligence and Digital Economy (SZ),Shenzhen,China,518107","institution_ids":["https://openalex.org/I4210136793"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100420016","display_name":"F. Richard Yu","orcid":"https://orcid.org/0000-0003-1006-7594"},"institutions":[{"id":"https://openalex.org/I4210136793","display_name":"Peng Cheng Laboratory","ror":"https://ror.org/03qdqbt06","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210136793"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fei Richard Yu","raw_affiliation_strings":["Guangdong Laboratory of Artificial Intelligence and Digital Economy (SZ),Shenzhen,China,518107"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Guangdong Laboratory of Artificial Intelligence and Digital Economy (SZ),Shenzhen,China,518107","institution_ids":["https://openalex.org/I4210136793"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100404067","display_name":"Qingquan Li","orcid":"https://orcid.org/0000-0002-2438-6046"},"institutions":[{"id":"https://openalex.org/I4210136793","display_name":"Peng Cheng Laboratory","ror":"https://ror.org/03qdqbt06","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210136793"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qingquan Li","raw_affiliation_strings":["Guangdong Laboratory of Artificial Intelligence and Digital Economy (SZ),Shenzhen,China,518107"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Guangdong Laboratory of Artificial Intelligence and Digital Economy (SZ),Shenzhen,China,518107","institution_ids":["https://openalex.org/I4210136793"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.30341287,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"10055","last_page":"10062"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9873999953269958,"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":0.9873999953269958,"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/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.003100000089034438,"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"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.0017000000225380063,"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/exoskeleton","display_name":"Exoskeleton","score":0.8511000275611877},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5913000106811523},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5888000130653381},{"id":"https://openalex.org/keywords/ankle","display_name":"Ankle","score":0.5117999911308289},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5110999941825867},{"id":"https://openalex.org/keywords/synchronization","display_name":"Synchronization (alternating current)","score":0.4611000120639801},{"id":"https://openalex.org/keywords/stride","display_name":"STRIDE","score":0.44760000705718994},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4016999900341034}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.8511000275611877},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6104000210762024},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5913000106811523},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5888000130653381},{"id":"https://openalex.org/C2778640784","wikidata":"https://www.wikidata.org/wiki/Q168002","display_name":"Ankle","level":2,"score":0.5117999911308289},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5110999941825867},{"id":"https://openalex.org/C2778562939","wikidata":"https://www.wikidata.org/wiki/Q1298791","display_name":"Synchronization (alternating current)","level":3,"score":0.4611000120639801},{"id":"https://openalex.org/C18007350","wikidata":"https://www.wikidata.org/wiki/Q7394815","display_name":"STRIDE","level":2,"score":0.44760000705718994},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.40369999408721924},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4016999900341034},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.382999986410141},{"id":"https://openalex.org/C143724316","wikidata":"https://www.wikidata.org/wiki/Q312468","display_name":"Series (stratigraphy)","level":2,"score":0.29739999771118164},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.29440000653266907},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2939999997615814},{"id":"https://openalex.org/C65655974","wikidata":"https://www.wikidata.org/wiki/Q14867674","display_name":"Swing","level":2,"score":0.28189998865127563},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.28119999170303345},{"id":"https://openalex.org/C2775862927","wikidata":"https://www.wikidata.org/wiki/Q7309766","display_name":"Rehabilitation robotics","level":3,"score":0.2784000039100647},{"id":"https://openalex.org/C19245436","wikidata":"https://www.wikidata.org/wiki/Q279038","display_name":"Zero moment point","level":4,"score":0.27239999175071716},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.27070000767707825},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26899999380111694},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2533999979496002},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.2515999972820282}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11247763","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247763","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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":26,"referenced_works":["https://openalex.org/W2123950545","https://openalex.org/W2150776941","https://openalex.org/W2576893463","https://openalex.org/W2700163520","https://openalex.org/W2773993535","https://openalex.org/W2904970546","https://openalex.org/W2967902380","https://openalex.org/W3194232229","https://openalex.org/W3208672786","https://openalex.org/W3216440402","https://openalex.org/W4221025811","https://openalex.org/W4285296035","https://openalex.org/W4286374144","https://openalex.org/W4304777328","https://openalex.org/W4306834502","https://openalex.org/W4312115223","https://openalex.org/W4313644385","https://openalex.org/W4318250073","https://openalex.org/W4322731362","https://openalex.org/W4386634591","https://openalex.org/W4387682303","https://openalex.org/W4392346407","https://openalex.org/W4392982976","https://openalex.org/W4402217434","https://openalex.org/W4403390328","https://openalex.org/W4404305449"],"related_works":[],"abstract_inverted_index":{"This":[0,86,175],"paper":[1],"presents":[2],"a":[3,16,29,54,67,90,97,185],"lightweight":[4,178],"bidirectional":[5,38],"cable-driven":[6],"ankle":[7,42,145],"exoskeleton":[8],"system":[9,27,61,141],"(total":[10],"mass:":[11,23],"2.6":[12],"kg)":[13],"based":[14],"on":[15],"series":[17],"elastic":[18],"actuation":[19],"architecture":[20],"(actuator":[21],"module":[22],"1.05":[24],"kg).":[25],"The":[26],"utilizes":[28],"waist-mounted":[30],"drive":[31],"unit":[32],"and":[33,96,122,171,193],"Bowden":[34],"cables":[35],"to":[36,40,151],"deliver":[37],"assistance":[39,192],"the":[41,60,111,140,144,167],"joint":[43,146],"(nominal":[44],"force:":[45,49],"460":[46],"N,":[47],"peak":[48,162],"680":[50],"N).":[51],"By":[52],"integrating":[53],"dynamically":[55],"coupled":[56],"adaptive":[57,181],"oscillator":[58],"(AO),":[59],"achieves":[62],"robust":[63],"gait":[64],"synchronization":[65],"across":[66],"range":[68,147],"of":[69,110,148],"walking":[70],"speeds":[71],"(0.6":[72],"\u2013":[73],"1.8":[74],"m/s,":[75],"phase":[76],"estimation":[77,82],"RMSE":[78,83],"<2.48%,":[79],"stride":[80],"frequency":[81],"<0.1":[84],"Hz).":[85],"is":[87],"complemented":[88],"by":[89],"Gaussian":[91],"Process":[92],"(GP)-based":[93],"torque":[94,99],"planner":[95],"cascaded":[98],"control":[100,182],"framework,":[101],"ensuring":[102],"seamless":[103],"coordination":[104],"with":[105,180],"natural":[106],"gait.":[107],"Experimental":[108],"characterization":[109],"actuator":[112],"demonstrates":[113],"its":[114],"high":[115,158],"dynamic":[116],"performance":[117],"(torque":[118],"bandwidth:":[119],"12.5":[120],"Hz)":[121],"low-impedance":[123],"characteristics":[124],"(peak":[125],"passive":[126],"backdrive":[127],"torque:":[128],"0.97":[129],"N":[130],"\u00b7":[131],"m).":[132],"Human":[133],"trials":[134],"involving":[135],"five":[136],"participants":[137],"show":[138],"that":[139],"significantly":[142],"expands":[143],"motion":[149],"(up":[150],"[-15.64":[152],"\u00b0,":[153],"20.67":[154],"\u00b0":[155],"]":[156],"at":[157],"speeds)":[159],"while":[160],"reducing":[161],"muscle":[163],"activation":[164],"levels":[165],"in":[166],"tibialis":[168],"anterior":[169],"(18.54%\u201330.21%)":[170],"gastrocnemius":[172],"(19.34%\u2013":[173],"25.45%).":[174],"design,":[176],"combining":[177],"construction":[179],"strategies,":[183],"provides":[184],"highly":[186],"effective":[187],"solution":[188],"for":[189],"daily":[190],"mobility":[191],"rehabilitation":[194],"applications.":[195]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-11-28T00:00:00"}