{"id":"https://openalex.org/W4390933837","doi":"https://doi.org/10.1109/lra.2024.3354618","title":"Novel Lightweight Lower Limb Exoskeleton Design for Single-Motor Sequential Assistance of Knee &amp; Ankle Joints in Real World","display_name":"Novel Lightweight Lower Limb Exoskeleton Design for Single-Motor Sequential Assistance of Knee &amp; Ankle Joints in Real World","publication_year":2024,"publication_date":"2024-01-16","ids":{"openalex":"https://openalex.org/W4390933837","doi":"https://doi.org/10.1109/lra.2024.3354618"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3354618","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3354618","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/A5101818359","display_name":"Xinyu Wu","orcid":"https://orcid.org/0000-0002-3779-7282"},"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":"Xinyu Wu","raw_affiliation_strings":["Shaanxi Key Laboratory of Intelligent Robots, Institute of Robotics and Intelligent Systems, Xi&#x0027;an Jiaotong University, Xi&#x0027;an, China"],"raw_orcid":"https://orcid.org/0000-0002-3779-7282","affiliations":[{"raw_affiliation_string":"Shaanxi Key Laboratory of Intelligent Robots, Institute of Robotics and Intelligent Systems, Xi&#x0027;an Jiaotong University, Xi&#x0027;an, China","institution_ids":["https://openalex.org/I87445476"]}]},{"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":["Shaanxi Key Laboratory of Intelligent Robots, Institute of Robotics and Intelligent Systems, Xi&#x0027;an Jiaotong University, Xi&#x0027;an, China"],"raw_orcid":"https://orcid.org/0000-0002-6346-4932","affiliations":[{"raw_affiliation_string":"Shaanxi Key Laboratory of Intelligent Robots, Institute of Robotics and Intelligent Systems, Xi&#x0027;an Jiaotong University, Xi&#x0027;an, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003832786","display_name":"Diyang Dang","orcid":null},"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":"Diyang Dang","raw_affiliation_strings":["Sports Center, Xi&#x0027;an Jiaotong University, Xi&#x0027;an, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sports Center, Xi&#x0027;an Jiaotong University, Xi&#x0027;an, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085715903","display_name":"Lei Shi","orcid":"https://orcid.org/0000-0002-5727-3590"},"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":"Lei Shi","raw_affiliation_strings":["Sports Center, Xi&#x0027;an Jiaotong University, Xi&#x0027;an, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sports Center, Xi&#x0027;an Jiaotong University, Xi&#x0027;an, China","institution_ids":["https://openalex.org/I87445476"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I87445476"],"apc_list":null,"apc_paid":null,"fwci":3.3356,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.92605819,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"9","issue":"3","first_page":"2391","last_page":"2398"},"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":0.9912999868392944,"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/T10675","display_name":"Mechanical Circulatory Support Devices","score":0.972100019454956,"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":0.9789848327636719},{"id":"https://openalex.org/keywords/ankle","display_name":"Ankle","score":0.6802985668182373},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6763249635696411},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.662956714630127},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5387945771217346},{"id":"https://openalex.org/keywords/clutch","display_name":"Clutch","score":0.5380053520202637},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4328126311302185},{"id":"https://openalex.org/keywords/preferred-walking-speed","display_name":"Preferred walking speed","score":0.4235672354698181},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.42147111892700195},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4117674231529236},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3227981925010681},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.13115322589874268},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.11010235548019409},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.05856850743293762}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.9789848327636719},{"id":"https://openalex.org/C2778640784","wikidata":"https://www.wikidata.org/wiki/Q168002","display_name":"Ankle","level":2,"score":0.6802985668182373},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6763249635696411},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.662956714630127},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5387945771217346},{"id":"https://openalex.org/C30358287","wikidata":"https://www.wikidata.org/wiki/Q194302","display_name":"Clutch","level":2,"score":0.5380053520202637},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4328126311302185},{"id":"https://openalex.org/C70770792","wikidata":"https://www.wikidata.org/wiki/Q7239848","display_name":"Preferred walking speed","level":2,"score":0.4235672354698181},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.42147111892700195},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4117674231529236},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3227981925010681},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.13115322589874268},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.11010235548019409},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.05856850743293762},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3354618","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3354618","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":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.9100000262260437}],"awards":[{"id":"https://openalex.org/G3902318377","display_name":null,"funder_award_id":"52175061","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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1587755077","https://openalex.org/W1670737740","https://openalex.org/W2002161214","https://openalex.org/W2035615198","https://openalex.org/W2053082706","https://openalex.org/W2058074226","https://openalex.org/W2083113971","https://openalex.org/W2576893463","https://openalex.org/W2752749000","https://openalex.org/W2807254784","https://openalex.org/W2998400386","https://openalex.org/W3012966102","https://openalex.org/W3028167303","https://openalex.org/W3124674856","https://openalex.org/W3130807160","https://openalex.org/W3135449185","https://openalex.org/W3165091337","https://openalex.org/W3168578315","https://openalex.org/W3208672786","https://openalex.org/W4205270577","https://openalex.org/W4285191973","https://openalex.org/W4304777328","https://openalex.org/W4312533652"],"related_works":["https://openalex.org/W3165529266","https://openalex.org/W2738109399","https://openalex.org/W2746267121","https://openalex.org/W3206130846","https://openalex.org/W2532934974","https://openalex.org/W2965229072","https://openalex.org/W2547001673","https://openalex.org/W3036227703","https://openalex.org/W4384824586","https://openalex.org/W2516761344"],"abstract_inverted_index":{"In":[0,120],"this":[1,142],"article,":[2],"we":[3,112],"introduce":[4],"a":[5,28,40,73,94,108],"lightweight":[6,37,74,105,118],"lower":[7],"limb":[8],"exoskeleton":[9,38,146],"that":[10],"provides":[11],"auxiliary":[12,57],"torque":[13,58],"to":[14,59,78,131],"both":[15],"the":[16,22,44,53,60,66,98,104,114,117,134,139],"ankle":[17,63],"and":[18,62,87,101],"knee":[19,61],"joints":[20,64],"during":[21,65],"stance":[23,67],"phase":[24,68],"of":[25,56,69,97,103,110,116,141],"gait":[26,80],"in":[27,147],"real-world":[29,121],"environment,":[30],"using":[31],"one":[32],"quasi-direct-drive":[33],"(QDD)":[34],"motor":[35],".This":[36],"incorporates":[39],"novel":[41],"driving":[42],"mechanism:":[43],"Unidirectional":[45],"Ankle-Knee":[46],"Gait":[47],"Clutch":[48],"(UAKC),":[49],"which":[50],"allows":[51],"for":[52],"sequential":[54],"provision":[55],"gait.":[70],"We":[71,92],"trained":[72],"convolutional":[75],"neural":[76],"network":[77],"determine":[79],"phases":[81],"from":[82],"scanned":[83],"insole":[84],"pressure":[85],"data":[86],"generate":[88],"corresponding":[89],"biological":[90],"torques.":[91],"provide":[93],"detailed":[95],"exposition":[96],"design":[99],"concept":[100],"operation":[102],"exoskeleton.":[106,119],"Through":[107],"series":[109],"experiments,":[111],"evaluated":[113],"performance":[115],"conditions,":[122],"it":[123],"reduced":[124],"human":[125,149],"energy":[126],"consumption":[127],"by":[128],"8.9\u00b11.3%":[129],"compared":[130],"walking":[132],"without":[133],"exoskeleton.This":[135],"study":[136],"reports":[137],"on":[138],"potential":[140],"rigid-cable":[143],"coupled":[144],"underactuated":[145],"enhancing":[148],"movement.":[150]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":13},{"year":2024,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
