{"id":"https://openalex.org/W4411446479","doi":"https://doi.org/10.1109/tsmc.2025.3575375","title":"Design and Control of an Underactuated Hip Exoskeleton for Hybrid Active-Passive Walking Assistance","display_name":"Design and Control of an Underactuated Hip Exoskeleton for Hybrid Active-Passive Walking Assistance","publication_year":2025,"publication_date":"2025-06-19","ids":{"openalex":"https://openalex.org/W4411446479","doi":"https://doi.org/10.1109/tsmc.2025.3575375"},"language":"en","primary_location":{"id":"doi:10.1109/tsmc.2025.3575375","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2025.3575375","pdf_url":null,"source":{"id":"https://openalex.org/S4210209078","display_name":"IEEE Transactions on Systems Man and Cybernetics Systems","issn_l":"2168-2216","issn":["2168-2216","2168-2232"],"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 Systems, Man, and Cybernetics: 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":null,"display_name":"Junjie Chao","orcid":"https://orcid.org/0009-0004-6182-908X"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Junjie Chao","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu, China"],"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049492957","display_name":"Qingcong Wu","orcid":"https://orcid.org/0000-0002-7774-6092"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qingcong Wu","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu, China"],"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102862902","display_name":"Zhijie Wang","orcid":"https://orcid.org/0009-0006-5299-8089"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhijie Wang","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu, China"],"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037371155","display_name":"Yanghui Zhu","orcid":"https://orcid.org/0000-0003-3476-0561"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanghui Zhu","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu, China"],"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100662674","display_name":"Bai Chen","orcid":"https://orcid.org/0000-0001-8290-8626"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bai Chen","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu, China"],"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102983071","display_name":"Hongtao Wu","orcid":"https://orcid.org/0000-0002-3885-930X"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongtao Wu","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu, China"],"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu, China","institution_ids":["https://openalex.org/I9842412"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I9842412"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.1286565,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"55","issue":"9","first_page":"5946","last_page":"5958"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9975000023841858,"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":0.9975000023841858,"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":0.9952999949455261,"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/T10114","display_name":"Balance, Gait, and Falls Prevention","score":0.9853000044822693,"subfield":{"id":"https://openalex.org/subfields/3612","display_name":"Physical Therapy, Sports Therapy and Rehabilitation"},"field":{"id":"https://openalex.org/fields/36","display_name":"Health Professions"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.8389319777488708},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.813963770866394},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.48056653141975403},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.44497808814048767},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.41559308767318726},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.20611068606376648},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13531997799873352}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.8389319777488708},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.813963770866394},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.48056653141975403},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.44497808814048767},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.41559308767318726},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.20611068606376648},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13531997799873352}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tsmc.2025.3575375","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2025.3575375","pdf_url":null,"source":{"id":"https://openalex.org/S4210209078","display_name":"IEEE Transactions on Systems Man and Cybernetics Systems","issn_l":"2168-2216","issn":["2168-2216","2168-2232"],"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 Systems, Man, and Cybernetics: Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7200000286102295,"id":"https://metadata.un.org/sdg/13","display_name":"Climate action"}],"awards":[{"id":"https://openalex.org/G1622197559","display_name":null,"funder_award_id":"52175014","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2971916050","display_name":null,"funder_award_id":"U22A20204","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G564440674","display_name":null,"funder_award_id":"BE2023813","funder_id":"https://openalex.org/F4320327780","funder_display_name":"Key Research and Development Program of Jiangxi Province"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320327780","display_name":"Key Research and Development Program of Jiangxi Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":49,"referenced_works":["https://openalex.org/W1980753202","https://openalex.org/W2115050146","https://openalex.org/W2135079799","https://openalex.org/W2236853351","https://openalex.org/W2330078258","https://openalex.org/W2425763636","https://openalex.org/W2626078568","https://openalex.org/W2769294089","https://openalex.org/W2799512474","https://openalex.org/W2808065631","https://openalex.org/W2893020384","https://openalex.org/W2912180257","https://openalex.org/W2970232466","https://openalex.org/W2973073656","https://openalex.org/W2988649018","https://openalex.org/W2998400386","https://openalex.org/W3003696105","https://openalex.org/W3005007028","https://openalex.org/W3083044753","https://openalex.org/W3096706420","https://openalex.org/W3110659672","https://openalex.org/W3112148202","https://openalex.org/W3132872586","https://openalex.org/W3133299692","https://openalex.org/W3135449185","https://openalex.org/W3135643734","https://openalex.org/W3189774270","https://openalex.org/W3197467528","https://openalex.org/W4221025811","https://openalex.org/W4226053532","https://openalex.org/W4310060309","https://openalex.org/W4312716866","https://openalex.org/W4382561686","https://openalex.org/W4382657783","https://openalex.org/W4385945569","https://openalex.org/W4386363030","https://openalex.org/W4387092286","https://openalex.org/W4388052961","https://openalex.org/W4388052991","https://openalex.org/W4388283394","https://openalex.org/W4390933837","https://openalex.org/W4392002840","https://openalex.org/W4392796728","https://openalex.org/W4392797122","https://openalex.org/W4393353946","https://openalex.org/W4393371616","https://openalex.org/W4395679182","https://openalex.org/W4400910269","https://openalex.org/W6674461173"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","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"],"abstract_inverted_index":{"Exoskeletons":[0],"have":[1],"great":[2],"potential":[3],"to":[4,47,56,97,116,147,149],"enhance":[5],"the":[6,61,65,72,83,99,125,136,139,144],"daily":[7],"activities":[8],"of":[9,86,138],"individuals":[10],"needing":[11],"robotic":[12],"assistance.":[13,30],"This":[14],"article":[15],"presents":[16],"a":[17,34,40,53],"design":[18],"for":[19],"an":[20],"underactuated":[21,87],"hip":[22,41,74],"exoskeleton":[23],"providing":[24],"both":[25,58],"active":[26,100],"and":[27,39,76,93,143],"passive":[28],"walking":[29,44],"The":[31,50,133],"system":[32],"integrates":[33],"driving":[35],"reversal":[36],"device":[37,45],"(DRD)":[38],"energy":[42],"storage":[43],"(HESWD)":[46],"improve":[48],"performance.":[49],"DRD":[51],"allows":[52],"single":[54],"motor":[55,90],"drive":[57],"hips":[59],"during":[60,82],"movement":[62],"phase,":[63],"while":[64],"HESWD":[66],"stores":[67],"negative":[68],"work":[69,81],"generated":[70],"by":[71],"human":[73,119],"joint":[75],"uses":[77],"it":[78],"as":[79],"positive":[80],"\u201cblank\u201d":[84],"phase":[85,102],"walking.":[88],"Specialized":[89],"trajectory":[91,111],"planning":[92],"optimization":[94],"are":[95],"used":[96],"meet":[98],"assistance":[101],"requirements.":[103],"A":[104],"radial":[105],"basis":[106],"function":[107],"(RBF)":[108],"neural":[109],"network-based":[110],"tracking":[112,126],"control":[113,141],"method":[114,142],"adapts":[115],"changes":[117],"in":[118],"gait.":[120],"Treadmill":[121],"experiments":[122],"demonstrate":[123],"that":[124],"error":[127],"is":[128],"below":[129],"0.4146<sup":[130],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[131],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">\u2218</sup>.":[132],"results":[134],"show":[135],"effectiveness":[137],"proposed":[140],"exoskeleton\u2019s":[145],"ability":[146],"adapt":[148],"slight":[150],"gait":[151],"variations.":[152]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}