{"id":"https://openalex.org/W4225718241","doi":"https://doi.org/10.1109/robio54168.2021.9739409","title":"Compatible Structure Design of a Lower Limb Exoskeleton for Gait Assist","display_name":"Compatible Structure Design of a Lower Limb Exoskeleton for Gait Assist","publication_year":2021,"publication_date":"2021-12-27","ids":{"openalex":"https://openalex.org/W4225718241","doi":"https://doi.org/10.1109/robio54168.2021.9739409"},"language":"en","primary_location":{"id":"doi:10.1109/robio54168.2021.9739409","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio54168.2021.9739409","pdf_url":null,"source":{"id":"https://openalex.org/S4363607846","display_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5100980070","display_name":"Dong Zhao","orcid":"https://orcid.org/0009-0003-7083-8669"},"institutions":[{"id":"https://openalex.org/I63371133","display_name":"Chongqing Jiaotong University","ror":"https://ror.org/01t001k65","country_code":"CN","type":"education","lineage":["https://openalex.org/I63371133"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dong Zhao","raw_affiliation_strings":["Chongqing Jiaotong University,Department of Mechatronics and Automobile Engineering,Chongqing,P.R. China","Department of Mechatronics and Automobile Engineering, Chongqing Jiaotong University, Chongqing, P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chongqing Jiaotong University,Department of Mechatronics and Automobile Engineering,Chongqing,P.R. China","institution_ids":["https://openalex.org/I63371133"]},{"raw_affiliation_string":"Department of Mechatronics and Automobile Engineering, Chongqing Jiaotong University, Chongqing, P.R. China","institution_ids":["https://openalex.org/I63371133"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100461914","display_name":"Xia Zhang","orcid":"https://orcid.org/0000-0002-4359-887X"},"institutions":[{"id":"https://openalex.org/I63371133","display_name":"Chongqing Jiaotong University","ror":"https://ror.org/01t001k65","country_code":"CN","type":"education","lineage":["https://openalex.org/I63371133"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xia Zhang","raw_affiliation_strings":["Chongqing Jiaotong University,Department of Mechatronics and Automobile Engineering,Chongqing,P.R. China","Department of Mechatronics and Automobile Engineering, Chongqing Jiaotong University, Chongqing, P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chongqing Jiaotong University,Department of Mechatronics and Automobile Engineering,Chongqing,P.R. China","institution_ids":["https://openalex.org/I63371133"]},{"raw_affiliation_string":"Department of Mechatronics and Automobile Engineering, Chongqing Jiaotong University, Chongqing, P.R. China","institution_ids":["https://openalex.org/I63371133"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050195424","display_name":"Hao Fu","orcid":"https://orcid.org/0000-0002-8263-5039"},"institutions":[{"id":"https://openalex.org/I63371133","display_name":"Chongqing Jiaotong University","ror":"https://ror.org/01t001k65","country_code":"CN","type":"education","lineage":["https://openalex.org/I63371133"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Fu","raw_affiliation_strings":["Chongqing Jiaotong University,Department of Mechatronics and Automobile Engineering,Chongqing,P.R. China","Department of Mechatronics and Automobile Engineering, Chongqing Jiaotong University, Chongqing, P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chongqing Jiaotong University,Department of Mechatronics and Automobile Engineering,Chongqing,P.R. China","institution_ids":["https://openalex.org/I63371133"]},{"raw_affiliation_string":"Department of Mechatronics and Automobile Engineering, Chongqing Jiaotong University, Chongqing, P.R. China","institution_ids":["https://openalex.org/I63371133"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I63371133"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"10","issue":null,"first_page":"186","last_page":"191"},"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":0.9711999893188477,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9063000082969666,"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":0.9827622771263123},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7241284847259521},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5096302032470703},{"id":"https://openalex.org/keywords/ankle","display_name":"Ankle","score":0.5028719305992126},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.49761393666267395},{"id":"https://openalex.org/keywords/wearable-computer","display_name":"Wearable computer","score":0.46813926100730896},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4365251660346985},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.42653340101242065},{"id":"https://openalex.org/keywords/kinematic-chain","display_name":"Kinematic chain","score":0.42585447430610657},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.40619680285453796},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.2115248143672943},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06661355495452881}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.9827622771263123},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7241284847259521},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5096302032470703},{"id":"https://openalex.org/C2778640784","wikidata":"https://www.wikidata.org/wiki/Q168002","display_name":"Ankle","level":2,"score":0.5028719305992126},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.49761393666267395},{"id":"https://openalex.org/C150594956","wikidata":"https://www.wikidata.org/wiki/Q1334829","display_name":"Wearable computer","level":2,"score":0.46813926100730896},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4365251660346985},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.42653340101242065},{"id":"https://openalex.org/C62837456","wikidata":"https://www.wikidata.org/wiki/Q678308","display_name":"Kinematic chain","level":3,"score":0.42585447430610657},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.40619680285453796},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.2115248143672943},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06661355495452881},{"id":"https://openalex.org/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","level":1,"score":0.0},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","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},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio54168.2021.9739409","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio54168.2021.9739409","pdf_url":null,"source":{"id":"https://openalex.org/S4363607846","display_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.7599999904632568,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320324805","display_name":"Chongqing Municipal Education Commission","ror":"https://ror.org/031nm5713"},{"id":"https://openalex.org/F4320337572","display_name":"Engineering Laboratory","ror":"https://ror.org/03v61g875"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1982954028","https://openalex.org/W2034922363","https://openalex.org/W2070825536","https://openalex.org/W2072214239","https://openalex.org/W2135588494","https://openalex.org/W2169410184","https://openalex.org/W2238680654","https://openalex.org/W2531008168","https://openalex.org/W2795480699","https://openalex.org/W2806705719","https://openalex.org/W3147825138"],"related_works":["https://openalex.org/W2557545276","https://openalex.org/W2887985348","https://openalex.org/W2901258812","https://openalex.org/W3017269254","https://openalex.org/W2401700601","https://openalex.org/W4387054232","https://openalex.org/W3198063775","https://openalex.org/W2593563634","https://openalex.org/W3139794584","https://openalex.org/W2956637127"],"abstract_inverted_index":{"In":[0],"order":[1],"to":[2,31,110],"solve":[3],"the":[4,12,19,23,33,41,45,61,66,76,92,101,118,122,132,153,157,160,164,168,172,175],"problem":[5],"of":[6,8,35,38,65,138,159,163,174],"incompatibility":[7],"human-exoskeleton":[9,20,46,139,165],"kinematics":[10,83],"in":[11,18,40,44],"existing":[13],"rigid":[14],"lower":[15,67],"limb":[16],"exoskeleton":[17,54,70,78,82,93,113,123,176],"closed-chain":[21,47],"environment,":[22],"advanced":[24],"mechanism":[25],"theory":[26],"and":[27,60,124],"method":[28],"are":[29],"used":[30],"calculate":[32],"number":[34],"passive":[36],"degrees":[37],"freedom":[39],"lower-limb":[42],"joints":[43],"environment.":[48],"Through":[49],"configuration":[50,56,79,155],"optimization,":[51],"a":[52,135],"human-":[53,77],"compatible":[55,99,154,177],"scheme":[57],"is":[58,71,85,98,130,167],"obtained,":[59],"overall":[62],"structure":[63],"design":[64],"extremity":[68],"wearable":[69],"further":[72],"completed":[73],"based":[74],"on":[75],"scheme.":[80],"Secondly,":[81],"research":[84],"carried":[86,145],"out,":[87],"simulation":[88,116,136],"results":[89,119,149],"verily":[90],"that":[91,121,151],"ankle":[94,103,126],"joint":[95,104,127,166],"motion":[96,105,115,140],"area":[97],"with":[100],"human":[102,125],"area.":[106],"Further":[107],"using":[108],"Adams":[109],"carry":[111],"out":[112],"walking":[114],"test,":[117],"show":[120],"movement":[128],"trajectory":[129],"basically":[131],"same.":[133],"Finally,":[134],"test":[137,148],"matching":[141],"degree":[142],"verification":[143],"was":[144],"out.":[146],"The":[147],"showed":[150],"under":[152],"scheme,":[156],"deviation":[158],"angular":[161],"displacement":[162],"smallest,":[169],"which":[170],"verifies":[171],"effectiveness":[173],"configuration.":[178]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}