{"id":"https://openalex.org/W7163021214","doi":"https://doi.org/10.1109/lra.2026.3699123","title":"Design of a Cable-Driven, Self-Aligning Knee Exoskeleton to Eliminate Joints\u2019 Misalignment Across Users With Varying Leg Dimensions","display_name":"Design of a Cable-Driven, Self-Aligning Knee Exoskeleton to Eliminate Joints\u2019 Misalignment Across Users With Varying Leg Dimensions","publication_year":2026,"publication_date":"2026-06-01","ids":{"openalex":"https://openalex.org/W7163021214","doi":"https://doi.org/10.1109/lra.2026.3699123"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2026.3699123","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3699123","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/A5108963166","display_name":"X G H Miley Yang","orcid":"https://orcid.org/0000-0003-3428-3806"},"institutions":[{"id":"https://openalex.org/I21193070","display_name":"Beijing Jiaotong University","ror":"https://ror.org/01yj56c84","country_code":"CN","type":"education","lineage":["https://openalex.org/I21193070"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinhua Yang","raw_affiliation_strings":["School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing, China","institution_ids":["https://openalex.org/I21193070"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113409578","display_name":"Sheng Guo","orcid":null},"institutions":[{"id":"https://openalex.org/I21193070","display_name":"Beijing Jiaotong University","ror":"https://ror.org/01yj56c84","country_code":"CN","type":"education","lineage":["https://openalex.org/I21193070"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Sheng Guo","raw_affiliation_strings":["School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-6746-9274","affiliations":[{"raw_affiliation_string":"School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing, China","institution_ids":["https://openalex.org/I21193070"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087840058","display_name":"Lianzheng Niu","orcid":null},"institutions":[{"id":"https://openalex.org/I21193070","display_name":"Beijing Jiaotong University","ror":"https://ror.org/01yj56c84","country_code":"CN","type":"education","lineage":["https://openalex.org/I21193070"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lianzheng Niu","raw_affiliation_strings":["School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing, China","institution_ids":["https://openalex.org/I21193070"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065435425","display_name":"Duxin Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I21193070","display_name":"Beijing Jiaotong University","ror":"https://ror.org/01yj56c84","country_code":"CN","type":"education","lineage":["https://openalex.org/I21193070"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Duxin Liu","raw_affiliation_strings":["School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-3483-3820","affiliations":[{"raw_affiliation_string":"School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing, China","institution_ids":["https://openalex.org/I21193070"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137561017","display_name":"Majun Song","orcid":null},"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":"Majun Song","raw_affiliation_strings":["Hangzhou Innovation Institute, Beihang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0001-6040-5294","affiliations":[{"raw_affiliation_string":"Hangzhou Innovation Institute, Beihang University, Hangzhou, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137565737","display_name":"Peiyi Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Peiyi Wang","raw_affiliation_strings":["Department of Mechanical Engineering, National University of Singapore, Singapore"],"raw_orcid":"https://orcid.org/0000-0002-6010-6427","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5137545826","display_name":"Xiangyang Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiangyang Wang","raw_affiliation_strings":["Guangdong Provincial Key Laboratory of Multimodality Non-Invasive Brain-Computer Interfaces, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-3907-0618","affiliations":[{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Multimodality Non-Invasive Brain-Computer Interfaces, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I4210145761"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"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":0.63775598,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"7","first_page":"8592","last_page":"8599"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9908999800682068,"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":0.9908999800682068,"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":0.0015999999595806003,"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"}},{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.0012000000569969416,"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":0.4514000117778778},{"id":"https://openalex.org/keywords/biomechanics","display_name":"Biomechanics","score":0.29679998755455017},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.2614000141620636}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4934999942779541},{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.4514000117778778},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.31630000472068787},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3003999888896942},{"id":"https://openalex.org/C170700871","wikidata":"https://www.wikidata.org/wiki/Q193378","display_name":"Biomechanics","level":2,"score":0.29679998755455017},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2896000146865845},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.2802000045776367},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.26600000262260437},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.2614000141620636},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.23250000178813934}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2026.3699123","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3699123","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/G3349206742","display_name":null,"funder_award_id":"52405005","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G433926103","display_name":null,"funder_award_id":"52275004","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4550465157","display_name":null,"funder_award_id":"62303444","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7865285138","display_name":null,"funder_award_id":"2025A1515060014","funder_id":"https://openalex.org/F4320337111","funder_display_name":"Basic and Applied Basic Research Foundation of Guangdong Province"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320337111","display_name":"Basic and Applied Basic Research Foundation of Guangdong Province","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"One":[0],"of":[1,36,119],"the":[2,9,12,17,37,42,55,80,90,100,122,126,155,164,172,175,187],"primary":[3],"difficulties":[4],"in":[5,96,99,110,139],"exoskeleton":[6,73,91],"use":[7],"is":[8],"misalignment":[10],"between":[11,125],"device's":[13],"mechanical":[14],"joints":[15],"and":[16,29,103,128,144,152,167,183,186,195],"user's":[18,43],"natural":[19],"biological":[20],"joints.":[21],"Knee":[22],"exoskeletons,":[23],"widely":[24],"studied":[25],"for":[26,82],"assisting":[27],"walking":[28,151],"stand-to-sit":[30,153],"transitions,":[31],"typically":[32],"require":[33],"precise":[34],"adjustment":[35],"rigid":[38],"frame":[39],"to":[40,94],"match":[41],"knee":[44,72],"joint":[45],"axis.":[46],"If":[47],"not":[48],"properly":[49],"aligned,":[50],"parasitic":[51,111,145,177,189],"forces":[52,112,146],"arise":[53],"at":[54],"physical":[56],"human\u2013robot":[57],"interface":[58],"(pHRI),":[59],"causing":[60],"significant":[61],"discomfort.":[62],"To":[63],"address":[64],"this":[65],"problem,":[66],"we":[67],"propose":[68],"a":[69],"cable-driven,":[70],"self-aligning":[71],"that":[74,89],"accommodates":[75],"different":[76],"wearing":[77,97],"positions":[78],"without":[79],"need":[81],"accurate":[83],"pre-use":[84],"alignment.":[85],"Platform":[86],"experiments":[87,134],"showed":[88],"adapted":[92],"well":[93],"variations":[95],"position":[98],"deactivated":[101],"mode":[102],"transmitted":[104],"assistive":[105,117],"torque":[106,118,190],"with":[107,163,171],"limited":[108],"changes":[109],"when":[113],"activated.":[114],"At":[115],"an":[116],"18":[120],"Nm,":[121],"relative":[123,140],"error":[124],"measured":[127],"target":[129],"values":[130],"was":[131,158,179,191],"7.27%.":[132],"Human-subject":[133],"further":[135],"demonstrated":[136],"substantial":[137],"reductions":[138],"sliding":[141],"distance":[142],"(RSD)":[143],"during":[147],"activities":[148],"such":[149],"as":[150],"transitions:":[154],"maximum":[156,176,188],"RSD":[157],"reduced":[159,180,192],"by":[160,168,181,193],"84.9%":[161],"compared":[162,170],"Orthosis":[165],"condition":[166],"85.1%":[169],"Locked":[173],"condition;":[174],"force":[178],"89.1%":[182],"89.0%,":[184],"respectively,":[185],"95.6%":[194],"96.1%,":[196],"respectively.":[197]},"counts_by_year":[],"updated_date":"2026-06-10T06:17:36.459440","created_date":"2026-06-02T00:00:00"}