{"id":"https://openalex.org/W4398787735","doi":"https://doi.org/10.1109/lra.2024.3405381","title":"Design-Modeling and Control of a Novel Wearable Exoskeleton for Lower-Limb Enhancement","display_name":"Design-Modeling and Control of a Novel Wearable Exoskeleton for Lower-Limb Enhancement","publication_year":2024,"publication_date":"2024-05-24","ids":{"openalex":"https://openalex.org/W4398787735","doi":"https://doi.org/10.1109/lra.2024.3405381"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3405381","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3405381","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/A5053968947","display_name":"Shuang Qiu","orcid":"https://orcid.org/0000-0002-2214-5089"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Shuang Qiu","raw_affiliation_strings":["Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076604839","display_name":"Zhongcai Pei","orcid":"https://orcid.org/0000-0001-7748-8591"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhongcai Pei","raw_affiliation_strings":["Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101824333","display_name":"Jia Shi","orcid":"https://orcid.org/0000-0001-6753-083X"},"institutions":[{"id":"https://openalex.org/I4210124246","display_name":"CITIC Group (China)","ror":"https://ror.org/037b6wy35","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210124246"]},{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jia Shi","raw_affiliation_strings":["Beihang University, Beijing, China","CITIC Securities Company Limited, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"CITIC Securities Company Limited, Beijing, China","institution_ids":["https://openalex.org/I4210124246"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100782600","display_name":"Xu Zhang","orcid":"https://orcid.org/0000-0002-1629-2103"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xu Zhang","raw_affiliation_strings":["Beijing Legendary Soaring Technology Company Limited, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Beijing Legendary Soaring Technology Company Limited, Beijing, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100337487","display_name":"Chen Wang","orcid":"https://orcid.org/0000-0001-6798-0312"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chen Wang","raw_affiliation_strings":["Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101881596","display_name":"Zhiyong Tang","orcid":"https://orcid.org/0000-0003-3974-1271"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiyong Tang","raw_affiliation_strings":["Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5053968947"],"corresponding_institution_ids":["https://openalex.org/I82880672"],"apc_list":null,"apc_paid":null,"fwci":1.4523,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.79839327,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"9","issue":"7","first_page":"6640","last_page":"6647"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.965399980545044,"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":0.965399980545044,"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":0.8800057172775269},{"id":"https://openalex.org/keywords/wearable-computer","display_name":"Wearable computer","score":0.7388166189193726},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4338446855545044},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.382226824760437},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.25304681062698364},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.2168075144290924},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.1318553388118744}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.8800057172775269},{"id":"https://openalex.org/C150594956","wikidata":"https://www.wikidata.org/wiki/Q1334829","display_name":"Wearable computer","level":2,"score":0.7388166189193726},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4338446855545044},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.382226824760437},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.25304681062698364},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2168075144290924},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.1318553388118744}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3405381","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3405381","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","score":0.6399999856948853,"id":"https://metadata.un.org/sdg/7"}],"awards":[{"id":"https://openalex.org/G4723956927","display_name":null,"funder_award_id":"51075017","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":27,"referenced_works":["https://openalex.org/W1977929578","https://openalex.org/W2081254081","https://openalex.org/W2135493101","https://openalex.org/W2148562683","https://openalex.org/W2559904797","https://openalex.org/W2700163520","https://openalex.org/W2729893323","https://openalex.org/W2744472597","https://openalex.org/W2770394012","https://openalex.org/W2895302821","https://openalex.org/W2991535721","https://openalex.org/W3007437250","https://openalex.org/W3041885450","https://openalex.org/W3112148202","https://openalex.org/W3159155390","https://openalex.org/W3195774211","https://openalex.org/W4205467692","https://openalex.org/W4206217267","https://openalex.org/W4221025811","https://openalex.org/W4289767101","https://openalex.org/W4302178119","https://openalex.org/W4307479981","https://openalex.org/W4365814872","https://openalex.org/W4378979773","https://openalex.org/W4386363030","https://openalex.org/W4390204081","https://openalex.org/W6742492200"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2901258812","https://openalex.org/W2887985348","https://openalex.org/W2401700601","https://openalex.org/W2570835373","https://openalex.org/W2557545276","https://openalex.org/W4387054232","https://openalex.org/W3198063775","https://openalex.org/W2753647732"],"abstract_inverted_index":{"In":[0,81],"this":[1],"paper,":[2,83],"a":[3,27,66],"novel":[4],"powered":[5],"lower":[6,137],"limb":[7,138],"exoskeleton":[8],"prototype":[9],"called":[10],"PTEXO":[11,23,88,119],"for":[12,73,91],"reducing":[13],"user":[14,122],"burden":[15],"and":[16,36,57,132],"enhancing":[17],"following":[18],"comfort":[19,38,76],"is":[20,24,89,124],"presented.":[21],"The":[22],"designed":[25,90],"with":[26,93,136],"new":[28,67],"control":[29],"strategy,":[30],"Enhanced":[31],"Sensitivity":[32],"Amplification":[33],"Control":[34],"(ESAC),":[35],"improves":[37],"of":[39,71,77,87,106,113],"lower-limb":[40],"locomotion":[41],"through":[42],"three":[43],"aspects,":[44],"namely,":[45],"obtaining":[46],"high-quality":[47],"angular":[48],"acceleration":[49],"signals,":[50],"adjusting":[51],"sensitivities":[52],"among":[53],"different":[54],"model":[55],"items,":[56],"increasing":[58],"continuity":[59],"during":[60],"gait":[61],"phase":[62],"transitions.":[63],"This":[64],"opens":[65],"option":[68],"in":[69,117],"terms":[70],"algorithms":[72],"improving":[74,118],"the":[75,82,84,103,107,111,114,128],"wearable":[78,100],"robotic":[79],"exoskeletons.":[80],"mechatronic":[85],"structure":[86],"ESAC,":[92],"which":[94],"dynamic":[95],"models":[96],"are":[97],"established.":[98],"Finally,":[99],"experiments":[101],"validate":[102],"proper":[104],"functioning":[105],"integrated":[108],"technique,":[109],"demonstrating":[110],"effectiveness":[112],"ESAC":[115,129],"strategy":[116],"smoothness.":[120],"A":[121],"survey":[123],"included":[125],"to":[126],"illustrate":[127],"can":[130],"effectively":[131],"comfortably":[133],"assists":[134],"users":[135],"locomotion.":[139]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":6}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}
