{"id":"https://openalex.org/W4393144869","doi":"https://doi.org/10.1109/tro.2024.3381556","title":"Design, Control, and Validation of a Novel Cable-Driven Series Elastic Actuation System for a Flexible and Portable Back-Support Exoskeleton","display_name":"Design, Control, and Validation of a Novel Cable-Driven Series Elastic Actuation System for a Flexible and Portable Back-Support Exoskeleton","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4393144869","doi":"https://doi.org/10.1109/tro.2024.3381556"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2024.3381556","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tro.2024.3381556","pdf_url":"https://ieeexplore.ieee.org/ielx7/8860/4359257/10478781.pdf","source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://ieeexplore.ieee.org/ielx7/8860/4359257/10478781.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5057605571","display_name":"Hongpeng Liao","orcid":"https://orcid.org/0000-0002-4823-0484"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Hongpeng Liao","raw_affiliation_strings":["Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong","Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China"],"raw_orcid":"https://orcid.org/0000-0002-4823-0484","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065360543","display_name":"Hugo Hung-Tin Chan","orcid":"https://orcid.org/0000-0002-5902-3026"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Hugo Hung-tin Chan","raw_affiliation_strings":["Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong","Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China"],"raw_orcid":"https://orcid.org/0000-0002-5902-3026","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002348273","display_name":"Gaoyu Liu","orcid":"https://orcid.org/0000-0001-5136-0733"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Gaoyu Liu","raw_affiliation_strings":["Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong","Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China"],"raw_orcid":"https://orcid.org/0000-0001-5136-0733","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101416688","display_name":"Xuan Zhao","orcid":"https://orcid.org/0000-0002-5535-379X"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Xuan Zhao","raw_affiliation_strings":["Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong","Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China"],"raw_orcid":"https://orcid.org/0000-0002-5535-379X","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029255037","display_name":"Fei Gao","orcid":"https://orcid.org/0000-0001-9637-6114"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"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":"Fei Gao","raw_affiliation_strings":["Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0001-9637-6114","affiliations":[{"raw_affiliation_string":"Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064077634","display_name":"Masayoshi Tomizuka","orcid":"https://orcid.org/0000-0003-0206-6639"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Masayoshi Tomizuka","raw_affiliation_strings":["Department of Mechanical Engineering, University of California, Berkeley, CA, USA"],"raw_orcid":"https://orcid.org/0000-0003-0206-6639","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5027148333","display_name":"Wei\u2010Hsin Liao","orcid":"https://orcid.org/0000-0001-7221-5906"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Wei-Hsin Liao","raw_affiliation_strings":["Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong","Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China"],"raw_orcid":"https://orcid.org/0000-0001-7221-5906","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.2825,"has_fulltext":true,"cited_by_count":18,"citation_normalized_percentile":{"value":0.88045653,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"40","issue":null,"first_page":"2769","last_page":"2790"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9991000294685364,"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":0.9991000294685364,"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":0.9490000009536743,"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":0.9474999904632568,"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":0.9618694186210632},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.7123611569404602},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6999140381813049},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.6221125721931458},{"id":"https://openalex.org/keywords/powered-exoskeleton","display_name":"Powered exoskeleton","score":0.5772922039031982},{"id":"https://openalex.org/keywords/manual-transmission","display_name":"Manual transmission","score":0.4927263557910919},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.49225226044654846},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.4828532338142395},{"id":"https://openalex.org/keywords/torsion-spring","display_name":"Torsion spring","score":0.4661150574684143},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4527667760848999},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.43830007314682007},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.43699201941490173},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.33751991391181946},{"id":"https://openalex.org/keywords/transmission","display_name":"Transmission (telecommunications)","score":0.3198750913143158},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.30588480830192566},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.20537635684013367},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14023858308792114},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11309018731117249},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.07976898550987244}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.9618694186210632},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.7123611569404602},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6999140381813049},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.6221125721931458},{"id":"https://openalex.org/C45391945","wikidata":"https://www.wikidata.org/wiki/Q938523","display_name":"Powered exoskeleton","level":3,"score":0.5772922039031982},{"id":"https://openalex.org/C123953119","wikidata":"https://www.wikidata.org/wiki/Q1208529","display_name":"Manual transmission","level":3,"score":0.4927263557910919},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.49225226044654846},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.4828532338142395},{"id":"https://openalex.org/C57614664","wikidata":"https://www.wikidata.org/wiki/Q27037480","display_name":"Torsion spring","level":2,"score":0.4661150574684143},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4527667760848999},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.43830007314682007},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.43699201941490173},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.33751991391181946},{"id":"https://openalex.org/C761482","wikidata":"https://www.wikidata.org/wiki/Q118093","display_name":"Transmission (telecommunications)","level":2,"score":0.3198750913143158},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.30588480830192566},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.20537635684013367},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14023858308792114},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11309018731117249},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.07976898550987244},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2024.3381556","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tro.2024.3381556","pdf_url":"https://ieeexplore.ieee.org/ielx7/8860/4359257/10478781.pdf","source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1109/tro.2024.3381556","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tro.2024.3381556","pdf_url":"https://ieeexplore.ieee.org/ielx7/8860/4359257/10478781.pdf","source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.7699999809265137,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4393144869.pdf","grobid_xml":"https://content.openalex.org/works/W4393144869.grobid-xml"},"referenced_works_count":71,"referenced_works":["https://openalex.org/W239392143","https://openalex.org/W1521257674","https://openalex.org/W1565940040","https://openalex.org/W1964889849","https://openalex.org/W1972239908","https://openalex.org/W1975795537","https://openalex.org/W1975932735","https://openalex.org/W1987498021","https://openalex.org/W2002680816","https://openalex.org/W2005609567","https://openalex.org/W2058074226","https://openalex.org/W2067312022","https://openalex.org/W2073136132","https://openalex.org/W2078046250","https://openalex.org/W2094023420","https://openalex.org/W2111253117","https://openalex.org/W2116767351","https://openalex.org/W2147288676","https://openalex.org/W2159806329","https://openalex.org/W2169100281","https://openalex.org/W2288913380","https://openalex.org/W2293200354","https://openalex.org/W2294251513","https://openalex.org/W2333868129","https://openalex.org/W2464813316","https://openalex.org/W2467303390","https://openalex.org/W2621250940","https://openalex.org/W2734464598","https://openalex.org/W2737156933","https://openalex.org/W2803873619","https://openalex.org/W2805462533","https://openalex.org/W2807119323","https://openalex.org/W2811040479","https://openalex.org/W2896379967","https://openalex.org/W2915802974","https://openalex.org/W2942692510","https://openalex.org/W2946938118","https://openalex.org/W2953786291","https://openalex.org/W2964474109","https://openalex.org/W2967580548","https://openalex.org/W2967902380","https://openalex.org/W2968507602","https://openalex.org/W2969320466","https://openalex.org/W3001673068","https://openalex.org/W3003696105","https://openalex.org/W3005576604","https://openalex.org/W3090298312","https://openalex.org/W3093507465","https://openalex.org/W3116409808","https://openalex.org/W3135453381","https://openalex.org/W3162229654","https://openalex.org/W3164054943","https://openalex.org/W3166484624","https://openalex.org/W3174451086","https://openalex.org/W3180201773","https://openalex.org/W3198510033","https://openalex.org/W3198571548","https://openalex.org/W3203410349","https://openalex.org/W3209992689","https://openalex.org/W4210944511","https://openalex.org/W4213104648","https://openalex.org/W4226334784","https://openalex.org/W4283752177","https://openalex.org/W4285067165","https://openalex.org/W4285191973","https://openalex.org/W4285244399","https://openalex.org/W4294991158","https://openalex.org/W4306160980","https://openalex.org/W4318250073","https://openalex.org/W4321002324","https://openalex.org/W6631331923"],"related_works":["https://openalex.org/W1989011507","https://openalex.org/W3176873818","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/W4388283394","https://openalex.org/W2120000215"],"abstract_inverted_index":{"Various":[0],"active":[1],"back-support":[2,19,60,201],"exoskeletons":[3],"have":[4],"been":[5],"developed":[6],"to":[7,30,54,102,129,143,148,195,244],"assist":[8],"manual":[9],"materials":[10],"handling":[11],"work":[12],"for":[13,83,118,158,169,258],"low":[14],"back":[15,261],"injury":[16],"prevention.":[17],"Existing":[18],"exoskeleton":[20,61,120,202,229,246,257],"actuation":[21,36,49,78,203],"either":[22],"suffers":[23],"from":[24],"rigid":[25],"transmission":[26,82,137],"structure,":[27],"or":[28],"fails":[29],"efficiently":[31],"generate":[32],"assistance":[33,99,213],"via":[34,216],"portable":[35,59],"system":[37,51,74,128,179,194,227,254],"with":[38,63,135,140,204],"flexible":[39,57,77,119],"transmissions.":[40],"In":[41],"this":[42,123],"paper,":[43],"a":[44,56,76,90,113,163],"novel":[45],"cable-driven":[46],"series":[47,131],"elastic":[48,132],"(CSEA)":[50],"is":[52,156,167,214],"proposed":[53],"realize":[55],"and":[58,66,108,115,138,147,162,172,199,219,240],"design":[62],"safe,":[64],"efficient,":[65],"sufficient":[67],"assistive":[68],"torque":[69,151,165,174],"output":[70,100,152],"capability.":[71],"The":[72,188],"CSEA":[73,127,160,178,193,226,253],"realizes":[75],"based":[79],"on":[80,89,255],"cable":[81,105,136],"an":[84,97,197,259],"ergonomic":[85,198],"human-exoskeleton":[86],"interaction.":[87],"Based":[88],"torsion":[91],"spring-support":[92],"beam":[93],"mechanism,":[94],"it":[95],"achieves":[96],"efficient":[98,200],"capability":[101,206],"prevent":[103],"high":[104],"force":[106],"demand":[107],"resultant":[109],"lumbar":[110],"compression,":[111],"assuring":[112],"safe":[114],"synergistic":[116],"operation":[117,185],"actuation.":[121],"Meanwhile,":[122],"mechanism":[124],"enables":[125],"the":[126,159,177,191,205,225,252,256],"integrate":[130],"actuator":[133],"(SEA)":[134],"operates":[139],"multiple":[141],"statuses":[142],"leverage":[144],"SEA":[145],"advantages":[146],"overcome":[149],"its":[150,181],"limitation.":[153],"Dynamic":[154],"model":[155],"established":[157],"system,":[161],"unified":[164],"controller":[166],"designed":[168],"stable,":[170],"continuous,":[171],"accurate":[173],"control":[175],"of":[176,190,207,212,234,251],"despite":[180],"discontinuous":[182],"dynamics":[183],"during":[184,237],"status":[186],"transition.":[187],"efficacy":[189],"closed-loop":[192],"enable":[196],"accurately":[208],"delivering":[209],"desired":[210],"level":[211],"verified":[215,223],"bench":[217],"tests":[218],"human":[220],"tests.":[221],"Results":[222],"that":[224],"actuated":[228],"can":[230],"effectively":[231],"reduce":[232],"activity":[233],"relevant":[235],"muscles":[236],"trunk":[238],"flexion":[239],"extension":[241],"motions":[242],"compared":[243],"no":[245],"case,":[247],"validating":[248],"successful":[249],"application":[250],"effective":[260],"support":[262],"effect.":[263]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":4}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}