{"id":"https://openalex.org/W4206665975","doi":"https://doi.org/10.1109/m2vip49856.2021.9665002","title":"A Lightweight, Integrated and Portable Force-Controlled Ankle Exoskeleton for Daily Walking Assistance","display_name":"A Lightweight, Integrated and Portable Force-Controlled Ankle Exoskeleton for Daily Walking Assistance","publication_year":2021,"publication_date":"2021-11-26","ids":{"openalex":"https://openalex.org/W4206665975","doi":"https://doi.org/10.1109/m2vip49856.2021.9665002"},"language":"en","primary_location":{"id":"doi:10.1109/m2vip49856.2021.9665002","is_oa":false,"landing_page_url":"https://doi.org/10.1109/m2vip49856.2021.9665002","pdf_url":null,"source":{"id":"https://openalex.org/S4363608277","display_name":"2021 27th International Conference on Mechatronics and Machine Vision in Practice (M2VIP)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 27th International Conference on Mechatronics and Machine Vision in Practice (M2VIP)","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/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":true,"raw_author_name":"Yuquan Leng","raw_affiliation_strings":["Department of Mechanical and Energy Engineering, Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems and Guangdong Provincial Key Laboratory of Human Augmentation and Rehabilitation Robotics in Universities, Southern University of Science and Technology, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Energy Engineering, Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems and Guangdong Provincial Key Laboratory of Human Augmentation and Rehabilitation Robotics in Universities, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114164655","display_name":"Guan Huang","orcid":null},"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":"Guan Huang","raw_affiliation_strings":["Department of Mechanical and Energy Engineering, Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems and Guangdong Provincial Key Laboratory of Human Augmentation and Rehabilitation Robotics in Universities, Southern University of Science and Technology, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Energy Engineering, Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems and Guangdong Provincial Key Laboratory of Human Augmentation and Rehabilitation Robotics in Universities, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111807768","display_name":"Ma Lang","orcid":null},"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":"Lang Ma","raw_affiliation_strings":["Department of Mechanical and Energy Engineering, Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems and Guangdong Provincial Key Laboratory of Human Augmentation and Rehabilitation Robotics in Universities, Southern University of Science and Technology, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Energy Engineering, Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems and Guangdong Provincial Key Laboratory of Human Augmentation and Rehabilitation Robotics in Universities, 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"]},{"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":["CN","SG"],"is_corresponding":false,"raw_author_name":"Yuepeng Qian","raw_affiliation_strings":["Department of Biomedical Engineering, National University of Singapore, Singapore","Department of Mechanical and Energy Engineering, Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems and Guangdong Provincial Key Laboratory of Human Augmentation and Rehabilitation Robotics in Universities, Southern University of Science and Technology, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Department of Mechanical and Energy Engineering, Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems and Guangdong Provincial Key Laboratory of Human Augmentation and Rehabilitation Robotics in Universities, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029939473","display_name":"Xinxing Chen","orcid":"https://orcid.org/0000-0002-6265-1226"},"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":"Xinxing Chen","raw_affiliation_strings":["Department of Mechanical and Energy Engineering, Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems and Guangdong Provincial Key Laboratory of Human Augmentation and Rehabilitation Robotics in Universities, Southern University of Science and Technology, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Energy Engineering, Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems and Guangdong Provincial Key Laboratory of Human Augmentation and Rehabilitation Robotics in Universities, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045734278","display_name":"Kuangen Zhang","orcid":"https://orcid.org/0000-0003-4242-5667"},"institutions":[{"id":"https://openalex.org/I141945490","display_name":"University of British Columbia","ror":"https://ror.org/03rmrcq20","country_code":"CA","type":"education","lineage":["https://openalex.org/I141945490"]},{"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":["CA","CN"],"is_corresponding":false,"raw_author_name":"Kuangen Zhang","raw_affiliation_strings":["Department of Mechanical Engineering, The University of British Columbia, Vancouver, Canada","Department of Mechanical and Energy Engineering, Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems and Guangdong Provincial Key Laboratory of Human Augmentation and Rehabilitation Robotics in Universities, Southern University of Science and Technology, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The University of British Columbia, Vancouver, Canada","institution_ids":["https://openalex.org/I141945490"]},{"raw_affiliation_string":"Department of Mechanical and Energy Engineering, Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems and Guangdong Provincial Key Laboratory of Human Augmentation and Rehabilitation Robotics in Universities, 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":["Department of Mechanical and Energy Engineering, Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems and Guangdong Provincial Key Laboratory of Human Augmentation and Rehabilitation Robotics in Universities, Southern University of Science and Technology, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Energy Engineering, Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems and Guangdong Provincial Key Laboratory of Human Augmentation and Rehabilitation Robotics in Universities, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5023270824"],"corresponding_institution_ids":["https://openalex.org/I3045169105"],"apc_list":null,"apc_paid":null,"fwci":1.5375,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.82496156,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"42","last_page":"47"},"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":0.9919999837875366,"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":0.9768000245094299,"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":0.9721417427062988},{"id":"https://openalex.org/keywords/ankle","display_name":"Ankle","score":0.8095768094062805},{"id":"https://openalex.org/keywords/wearable-computer","display_name":"Wearable computer","score":0.6282675266265869},{"id":"https://openalex.org/keywords/moment","display_name":"Moment (physics)","score":0.5987794399261475},{"id":"https://openalex.org/keywords/powered-exoskeleton","display_name":"Powered exoskeleton","score":0.5331023931503296},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49936962127685547},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.4876162111759186},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.47723817825317383},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.45018327236175537},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3842135965824127},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.1299532949924469},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.12337511777877808},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.08221495151519775}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.9721417427062988},{"id":"https://openalex.org/C2778640784","wikidata":"https://www.wikidata.org/wiki/Q168002","display_name":"Ankle","level":2,"score":0.8095768094062805},{"id":"https://openalex.org/C150594956","wikidata":"https://www.wikidata.org/wiki/Q1334829","display_name":"Wearable computer","level":2,"score":0.6282675266265869},{"id":"https://openalex.org/C179254644","wikidata":"https://www.wikidata.org/wiki/Q13222844","display_name":"Moment (physics)","level":2,"score":0.5987794399261475},{"id":"https://openalex.org/C45391945","wikidata":"https://www.wikidata.org/wiki/Q938523","display_name":"Powered exoskeleton","level":3,"score":0.5331023931503296},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49936962127685547},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.4876162111759186},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.47723817825317383},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.45018327236175537},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3842135965824127},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.1299532949924469},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.12337511777877808},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.08221495151519775},{"id":"https://openalex.org/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/m2vip49856.2021.9665002","is_oa":false,"landing_page_url":"https://doi.org/10.1109/m2vip49856.2021.9665002","pdf_url":null,"source":{"id":"https://openalex.org/S4363608277","display_name":"2021 27th International Conference on Mechatronics and Machine Vision in Practice (M2VIP)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 27th International Conference on Mechatronics and Machine Vision in Practice (M2VIP)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320326907","display_name":"State Key Laboratory of Robotics","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1587755077","https://openalex.org/W2002161214","https://openalex.org/W2043137231","https://openalex.org/W2067808244","https://openalex.org/W2102653827","https://openalex.org/W2120000215","https://openalex.org/W2144781570","https://openalex.org/W2169410184","https://openalex.org/W2236853351","https://openalex.org/W2318226354","https://openalex.org/W2330078258","https://openalex.org/W2343715419","https://openalex.org/W2344339070","https://openalex.org/W2347006312","https://openalex.org/W2609988131","https://openalex.org/W2616060807","https://openalex.org/W2621250940","https://openalex.org/W2700163520","https://openalex.org/W2773993535","https://openalex.org/W2788331089","https://openalex.org/W2901443750","https://openalex.org/W2925242627","https://openalex.org/W2939326968","https://openalex.org/W2970232466","https://openalex.org/W3016092261","https://openalex.org/W3036699419","https://openalex.org/W3090029900"],"related_works":["https://openalex.org/W1989011507","https://openalex.org/W2908002960","https://openalex.org/W4386159943","https://openalex.org/W2808226217","https://openalex.org/W2015794229","https://openalex.org/W2893851384","https://openalex.org/W2780323031","https://openalex.org/W2753647732","https://openalex.org/W4388283394","https://openalex.org/W2120000215"],"abstract_inverted_index":{"Most":[0],"of":[1,50,73,99,124,135,139,171],"the":[2,33,43,51,93,100,121,128,136,148,156,166,169,172],"powered":[3],"lower-limb":[4],"exoskeletons":[5,14],"are":[6],"bulky":[7],"or":[8],"complex":[9],"to":[10,26,38,80,87,113,133,164],"wear.":[11],"Especially,":[12],"some":[13],"have":[15],"constraints":[16],"on":[17,42],"human":[18,88,143],"leg":[19],"movement.":[20],"These":[21],"all":[22],"limit":[23],"their":[24],"applicability":[25],"daily":[27,55],"walking":[28],"assistance.":[29],"In":[30],"this":[31],"paper,":[32],"ankle":[34,46,64,115,125,140],"joint":[35,47,126],"is":[36,66,105,131],"selected":[37],"be":[39,77,159],"assisted":[40],"based":[41],"fact":[44],"that":[45,151],"contributes":[48],"most":[49],"positive":[52],"power":[53],"in":[54],"walking.":[56],"Then,":[57],"a":[58],"lightweight,":[59],"integrated":[60,79],"and":[61,68,96,110,127],"portable":[62],"force-controlled":[63],"exoskeleton":[65,75,157],"designed":[67],"tested.":[69],"The":[70,117],"wearable":[71],"parts":[72],"proposed":[74,173],"can":[76,91,158],"completely":[78],"shoes,":[81],"with":[82,155],"no":[83],"other":[84],"part":[85],"add":[86],"legs.":[89],"This":[90],"reduce":[92],"wearing":[94],"complexity":[95],"increase":[97],"acceptability":[98],"user.":[101],"Time-sharing":[102],"control":[103,109,112],"method":[104],"adopted":[106],"about":[107],"admittance":[108],"position":[111],"assist":[114],"joint.":[116,141],"assistant":[118],"curve":[119],"imitates":[120],"biological":[122],"moment":[123,130,138],"maximal":[129,137],"set":[132],"25%":[134],"When":[142],"walks":[144],"at":[145],"1.4":[146],"m/s,":[147],"result":[149],"show":[150],"net":[152],"metabolic":[153],"cost":[154],"reduced":[160],"by":[161],"9.98%":[162],"compared":[163],"without":[165],"exoskeleton,":[167],"proving":[168],"effectiveness":[170],"exoskeleton.":[174]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}