{"id":"https://openalex.org/W4313186857","doi":"https://doi.org/10.1109/thms.2022.3217971","title":"Design and Experimental Verification of a Hip Exoskeleton Based on Human\u2013Machine Dynamics for Walking Assistance","display_name":"Design and Experimental Verification of a Hip Exoskeleton Based on Human\u2013Machine Dynamics for Walking Assistance","publication_year":2022,"publication_date":"2022-11-14","ids":{"openalex":"https://openalex.org/W4313186857","doi":"https://doi.org/10.1109/thms.2022.3217971"},"language":"en","primary_location":{"id":"doi:10.1109/thms.2022.3217971","is_oa":false,"landing_page_url":"https://doi.org/10.1109/thms.2022.3217971","pdf_url":null,"source":{"id":"https://openalex.org/S2476799526","display_name":"IEEE Transactions on Human-Machine Systems","issn_l":"2168-2291","issn":["2168-2291","2168-2305"],"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 Transactions on Human-Machine Systems","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/A5100755820","display_name":"Xiangyang Wang","orcid":"https://orcid.org/0000-0002-3907-0618"},"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"]},{"id":"https://openalex.org/I891191580","display_name":"Aalborg University","ror":"https://ror.org/04m5j1k67","country_code":"DK","type":"education","lineage":["https://openalex.org/I891191580"]}],"countries":["CN","DK"],"is_corresponding":true,"raw_author_name":"Xiangyang Wang","raw_affiliation_strings":["School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing, China","Department of Health Science and Technology, Aalborg University, Aalborg, Denmark"],"raw_orcid":"https://orcid.org/0000-0002-3907-0618","affiliations":[{"raw_affiliation_string":"School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing, China","institution_ids":["https://openalex.org/I21193070"]},{"raw_affiliation_string":"Department of Health Science and Technology, Aalborg University, Aalborg, Denmark","institution_ids":["https://openalex.org/I891191580"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100687095","display_name":"Sheng Guo","orcid":"https://orcid.org/0000-0001-6746-9274"},"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/A5044167442","display_name":"Bojian Qu","orcid":null},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Bojian Qu","raw_affiliation_strings":["School of Engineering Science, KTH Royal Institute of Technology, Stockholm, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering Science, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033529424","display_name":"Shaoping Bai","orcid":"https://orcid.org/0000-0001-5882-9768"},"institutions":[{"id":"https://openalex.org/I891191580","display_name":"Aalborg University","ror":"https://ror.org/04m5j1k67","country_code":"DK","type":"education","lineage":["https://openalex.org/I891191580"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Shaoping Bai","raw_affiliation_strings":["Department of Materials and Production, Aalborg University, Aalborg, Denmark"],"raw_orcid":"https://orcid.org/0000-0001-5882-9768","affiliations":[{"raw_affiliation_string":"Department of Materials and Production, Aalborg University, Aalborg, Denmark","institution_ids":["https://openalex.org/I891191580"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100755820"],"corresponding_institution_ids":["https://openalex.org/I21193070","https://openalex.org/I891191580"],"apc_list":null,"apc_paid":null,"fwci":2.8614,"has_fulltext":false,"cited_by_count":36,"citation_normalized_percentile":{"value":0.91292179,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"53","issue":"1","first_page":"85","last_page":"97"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9817000031471252,"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"}},{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9787999987602234,"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":0.9754350781440735},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.8180476427078247},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5942553281784058},{"id":"https://openalex.org/keywords/compatibility","display_name":"Compatibility (geochemistry)","score":0.5318087339401245},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5203328132629395},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.48696169257164},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.45123064517974854},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.418089359998703},{"id":"https://openalex.org/keywords/motion-capture","display_name":"Motion capture","score":0.41698187589645386},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.36664044857025146},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2882806062698364},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.23289385437965393},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23227733373641968},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1765976846218109}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.9754350781440735},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8180476427078247},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5942553281784058},{"id":"https://openalex.org/C2778648169","wikidata":"https://www.wikidata.org/wiki/Q967768","display_name":"Compatibility (geochemistry)","level":2,"score":0.5318087339401245},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5203328132629395},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.48696169257164},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.45123064517974854},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.418089359998703},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.41698187589645386},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.36664044857025146},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2882806062698364},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.23289385437965393},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23227733373641968},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1765976846218109},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C42360764","wikidata":"https://www.wikidata.org/wiki/Q83588","display_name":"Chemical engineering","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/thms.2022.3217971","is_oa":false,"landing_page_url":"https://doi.org/10.1109/thms.2022.3217971","pdf_url":null,"source":{"id":"https://openalex.org/S2476799526","display_name":"IEEE Transactions on Human-Machine Systems","issn_l":"2168-2291","issn":["2168-2291","2168-2305"],"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 Transactions on Human-Machine Systems","raw_type":"journal-article"},{"id":"pmh:oai:pure.atira.dk:publications/b3db896e-6280-4a44-ab68-9f9df11e7511","is_oa":false,"landing_page_url":"https://vbn.aau.dk/da/publications/b3db896e-6280-4a44-ab68-9f9df11e7511","pdf_url":null,"source":{"id":"https://openalex.org/S4306401731","display_name":"VBN Forskningsportal (Aalborg Universitet)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I891191580","host_organization_name":"Aalborg University","host_organization_lineage":["https://openalex.org/I891191580"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Wang , X , Guo , S , Qu , B &amp; Bai , S 2023 , ' Design and Experimental Verification of a Hip Exoskeleton Based on Human\u2013Machine Dynamics for Walking Assistance ' , IEEE Transactions on Human-Machine Systems , vol. 53 , no. 1 , pp. 85-97 . https://doi.org/10.1109/THMS.2022.3217971","raw_type":"article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.800000011920929}],"awards":[{"id":"https://openalex.org/G4058587429","display_name":null,"funder_award_id":"2021YJS135","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"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/G5483686701","display_name":null,"funder_award_id":"61903218","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"},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1256870269","https://openalex.org/W1996907893","https://openalex.org/W2013797295","https://openalex.org/W2041886889","https://openalex.org/W2070054839","https://openalex.org/W2089826029","https://openalex.org/W2102046115","https://openalex.org/W2108965296","https://openalex.org/W2112894283","https://openalex.org/W2141774335","https://openalex.org/W2144695336","https://openalex.org/W2145797349","https://openalex.org/W2150317946","https://openalex.org/W2169575066","https://openalex.org/W2314726420","https://openalex.org/W2606784660","https://openalex.org/W2894477171","https://openalex.org/W2908002960","https://openalex.org/W2909895055","https://openalex.org/W2910122298","https://openalex.org/W2946619813","https://openalex.org/W3000715664","https://openalex.org/W3185913549","https://openalex.org/W3215218448","https://openalex.org/W4206221336","https://openalex.org/W4210548488","https://openalex.org/W4211003818","https://openalex.org/W4223439565","https://openalex.org/W4226286673","https://openalex.org/W4255812194","https://openalex.org/W6804307499"],"related_works":["https://openalex.org/W2887985348","https://openalex.org/W2401700601","https://openalex.org/W2570835373","https://openalex.org/W3198063775","https://openalex.org/W2901258812","https://openalex.org/W3017269254","https://openalex.org/W2475107902","https://openalex.org/W2557545276","https://openalex.org/W2997065218","https://openalex.org/W2120051910"],"abstract_inverted_index":{"High":[0],"motion":[1],"compatibility":[2,164],"with":[3,46],"the":[4,30,60,70,81,116,131,152,162,169],"human":[5],"body":[6],"is":[7,50,91,98],"essential":[8],"for":[9,155],"lower":[10],"limb":[11],"exoskeletons.":[12],"However,":[13],"in":[14,52,93,143],"most":[15,139],"exoskeletons,":[16],"internal/external":[17],"rotational":[18],"degrees":[19],"of":[20,67,168],"freedom":[21],"are":[22],"not":[23,134],"provided,":[24],"which":[25,147],"makes":[26,151],"accurate":[27],"alignment":[28],"between":[29],"biological":[31],"and":[32,63,106,150,165],"mechanical":[33],"joints":[34],"difficult":[35],"to":[36,120,160],"achieve.":[37],"To":[38],"solve":[39],"this":[40,53,73,86,94],"problem,":[41],"a":[42,47,75,88,101],"novel":[43],"hip":[44,171],"exoskeleton":[45,83],"parallel":[48,57,82],"structure":[49,58],"developed":[51],"article.":[54,95],"The":[55,96,124],"unique":[56],"eliminates":[59],"misalignment":[61],"problem":[62],"enables":[64],"walking":[65],"free":[66],"restrictions.":[68],"On":[69],"other":[71],"hand,":[72],"requires":[74,126],"coordinated":[76,109],"control":[77,111,145],"among":[78],"actuations":[79],"within":[80],"structure.":[84],"In":[85],"light,":[87],"model-based":[89],"controller":[90,97,125],"proposed":[92,170],"based":[99],"on":[100],"human\u2013machine":[102],"integrated":[103],"dynamic":[104],"model":[105],"can":[107],"generate":[108],"force":[110,136],"references":[112],"that":[113,138],"could":[114],"increase":[115],"closed-loop":[117],"system's":[118],"sensitivity":[119],"its":[121],"wearer's":[122],"movements.":[123],"only":[127],"kinematic":[128,163],"information":[129],"from":[130],"wearer,":[132],"but":[133],"interaction":[135],"data":[137],"existing":[140],"exoskeletons":[141],"require":[142],"their":[144],"design,":[146],"saves":[148],"spaces":[149],"system":[153],"compact":[154],"use.":[156],"Experiments":[157],"were":[158],"conducted":[159],"demonstrate":[161],"assistive":[166],"performance":[167],"exoskeleton.":[172]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":15},{"year":2024,"cited_by_count":14},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
