{"id":"https://openalex.org/W3208672786","doi":"https://doi.org/10.1109/lra.2021.3124081","title":"Design an Underactuated Soft Exoskeleton to Sequentially Provide Knee Extension and Ankle Plantarflexion Assistance","display_name":"Design an Underactuated Soft Exoskeleton to Sequentially Provide Knee Extension and Ankle Plantarflexion Assistance","publication_year":2021,"publication_date":"2021-11-02","ids":{"openalex":"https://openalex.org/W3208672786","doi":"https://doi.org/10.1109/lra.2021.3124081","mag":"3208672786"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3124081","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3124081","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-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/A5035843722","display_name":"Liang Ma","orcid":"https://orcid.org/0000-0003-4228-258X"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Liang Ma","raw_affiliation_strings":["School of Mechanical and Electrical Engineering, Harbin Institute of Technology, Harbin, China","Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems and Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities, Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical and Electrical Engineering, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems and Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities, Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023270824","display_name":"Yuquan Leng","orcid":"https://orcid.org/0000-0003-4063-4545"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuquan Leng","raw_affiliation_strings":["Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems and Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities, Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems and Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities, Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062688449","display_name":"Wei Jiang","orcid":"https://orcid.org/0000-0001-7683-5811"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Jiang","raw_affiliation_strings":["Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems and Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities, Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems and Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities, Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019361353","display_name":"Yuepeng Qian","orcid":"https://orcid.org/0000-0001-5298-1849"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuepeng Qian","raw_affiliation_strings":["Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems and Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities, Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems and Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities, Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024107992","display_name":"Chenglong Fu","orcid":"https://orcid.org/0000-0002-8955-5429"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chenglong Fu","raw_affiliation_strings":["Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems and Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities, Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-8955-5429","affiliations":[{"raw_affiliation_string":"Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems and Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities, Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5035843722"],"corresponding_institution_ids":["https://openalex.org/I204983213","https://openalex.org/I3045169105"],"apc_list":null,"apc_paid":null,"fwci":1.6992,"has_fulltext":false,"cited_by_count":31,"citation_normalized_percentile":{"value":0.83139938,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"7","issue":"1","first_page":"271","last_page":"278"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9779999852180481,"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":0.977400004863739,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.946399450302124},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.8161348104476929},{"id":"https://openalex.org/keywords/ankle","display_name":"Ankle","score":0.7208653688430786},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6558915376663208},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5861395597457886},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5072886347770691},{"id":"https://openalex.org/keywords/powered-exoskeleton","display_name":"Powered exoskeleton","score":0.48246151208877563},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.39606773853302},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.3387151062488556},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33749520778656006},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32649850845336914},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.28489261865615845},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13850101828575134},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.1198645830154419},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08494004607200623},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.07623422145843506},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07366868853569031}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.946399450302124},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.8161348104476929},{"id":"https://openalex.org/C2778640784","wikidata":"https://www.wikidata.org/wiki/Q168002","display_name":"Ankle","level":2,"score":0.7208653688430786},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6558915376663208},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5861395597457886},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5072886347770691},{"id":"https://openalex.org/C45391945","wikidata":"https://www.wikidata.org/wiki/Q938523","display_name":"Powered exoskeleton","level":3,"score":0.48246151208877563},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.39606773853302},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.3387151062488556},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33749520778656006},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32649850845336914},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.28489261865615845},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13850101828575134},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.1198645830154419},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08494004607200623},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.07623422145843506},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07366868853569031},{"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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2021.3124081","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3124081","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2547937214","display_name":null,"funder_award_id":"U1913205","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8722757387","display_name":null,"funder_award_id":"52175272","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1559393815","https://openalex.org/W1670737740","https://openalex.org/W2002161214","https://openalex.org/W2035615198","https://openalex.org/W2036493919","https://openalex.org/W2048365541","https://openalex.org/W2102046115","https://openalex.org/W2115334118","https://openalex.org/W2121227960","https://openalex.org/W2154630542","https://openalex.org/W2168224345","https://openalex.org/W2169410184","https://openalex.org/W2243073123","https://openalex.org/W2344043336","https://openalex.org/W2416127396","https://openalex.org/W2531008168","https://openalex.org/W2576893463","https://openalex.org/W2765826136","https://openalex.org/W2939326968","https://openalex.org/W2965508579","https://openalex.org/W3014201768","https://openalex.org/W3020019805","https://openalex.org/W3147241170","https://openalex.org/W4211003818","https://openalex.org/W6690894711"],"related_works":["https://openalex.org/W3205655234","https://openalex.org/W2906683640","https://openalex.org/W1989011507","https://openalex.org/W2908002960","https://openalex.org/W2808226217","https://openalex.org/W2015794229","https://openalex.org/W2893851384","https://openalex.org/W2780323031","https://openalex.org/W2753647732","https://openalex.org/W2909939948"],"abstract_inverted_index":{"In":[0],"this":[1,29,101],"letter,":[2],"we":[3],"present":[4],"an":[5],"underactuated":[6,52,102,113,174],"soft":[7,53,103,114,175],"exoskeleton":[8,54,115,142,159,165,176],"which":[9,64,201],"can":[10],"sequentially":[11],"provide":[12],"knee":[13,73,77,89,134,187],"extension":[14],"and":[15,43,80,95,147,170,188,190],"ankle":[16,85,151],"plantarflexion":[17],"assistance":[18,125,184],"for":[19,100],"each":[20,206],"leg":[21],"with":[22],"only":[23],"one":[24],"motor.":[25],"The":[26,51,109],"aim":[27],"of":[28,56,111,121,132,149],"work":[30],"is":[31,78,90],"to":[32,68,72,84,140,162,181,185],"assist":[33],"the":[34,45,49,66,76,88,112,127,130,133,145,150,158,163,186,191,199],"motions":[35,200],"that":[36],"have":[37,202],"chronological":[38,203],"moments":[39,204],"at":[40,205],"lower-limb":[41,207],"joints":[42],"minimize":[44],"mass":[46],"carried":[47],"by":[48,118,137,168],"wearer.":[50],"consists":[55],"a":[57,119,178],"novel":[58],"actuation":[59],"mechanism:":[60],"Continuum-Cable":[61],"System":[62],"(CCS),":[63],"allows":[65],"actuators":[67],"transmit":[69,81],"assistive":[70,82],"torques":[71,83],"joint":[74,86],"when":[75,87,156],"flexed":[79],"fully":[91],"extended.":[92],"Design":[93],"concepts":[94],"component":[96],"descriptions":[97],"were":[98],"elaborated":[99],"exoskeleton,":[104,129],"including":[105],"kinematics,":[106],"actuation,":[107],"etc.":[108],"performance":[110],"was":[116,135],"evaluated":[117],"series":[120],"experiments.":[122],"With":[123],"effective":[124],"from":[126],"proposed":[128],"power":[131,148],"reduced":[136],"6.40%,":[138],"compared":[139],"without":[141,164],"condition.":[143],"Meanwhile,":[144],"moment":[146],"also":[152],"demonstrated":[153],"significant":[154],"reduction":[155],"comparing":[157],"powered":[160],"condition":[161,166],"(reduced":[167],"11.61%":[169],"45.44%,":[171],"respectively).":[172],"This":[173],"represents":[177],"feasible":[179],"solution":[180],"apply":[182],"sequential":[183],"ankle,":[189],"experimental":[192],"results":[193],"validated":[194],"its":[195],"effectiveness":[196],"in":[197],"assisting":[198],"joint.":[208]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":6}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}