{"id":"https://openalex.org/W4401496593","doi":"https://doi.org/10.1142/s0218126625500331","title":"The Metabolic Cost Analysis of Human Walking with a Robotic Lower-limb Exoskeleton","display_name":"The Metabolic Cost Analysis of Human Walking with a Robotic Lower-limb Exoskeleton","publication_year":2024,"publication_date":"2024-08-11","ids":{"openalex":"https://openalex.org/W4401496593","doi":"https://doi.org/10.1142/s0218126625500331"},"language":"en","primary_location":{"id":"doi:10.1142/s0218126625500331","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0218126625500331","pdf_url":null,"source":{"id":"https://openalex.org/S167602672","display_name":"Journal of Circuits Systems and Computers","issn_l":"0218-1266","issn":["0218-1266","1793-6454"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Circuits, Systems and Computers","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":"Sen Zhang","orcid":"https://orcid.org/0009-0006-6804-2719"},"institutions":[{"id":"https://openalex.org/I133270356","display_name":"Tianjin University of Technology and Education","ror":"https://ror.org/035gwtk09","country_code":"CN","type":"education","lineage":["https://openalex.org/I133270356"]},{"id":"https://openalex.org/I136765683","display_name":"Tianjin University of Technology","ror":"https://ror.org/00zbe0w13","country_code":"CN","type":"education","lineage":["https://openalex.org/I136765683"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Sen Zhang","raw_affiliation_strings":["National Demonstration Center for Experimental Mechanical and Electrical Engineering Education, School of Mechanical Engineering, Tianjin University of Technology, Tianjin 300384, P.\u00a0R.\u00a0China","Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, School of Mechanical Engineering, Tianjin University of Technology, Tianjin 300384, P.\u00a0R.\u00a0China"],"raw_orcid":"https://orcid.org/0009-0006-6804-2719","affiliations":[{"raw_affiliation_string":"National Demonstration Center for Experimental Mechanical and Electrical Engineering Education, School of Mechanical Engineering, Tianjin University of Technology, Tianjin 300384, P.\u00a0R.\u00a0China","institution_ids":["https://openalex.org/I133270356","https://openalex.org/I136765683"]},{"raw_affiliation_string":"Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, School of Mechanical Engineering, Tianjin University of Technology, Tianjin 300384, P.\u00a0R.\u00a0China","institution_ids":["https://openalex.org/I136765683"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Wei Wang","orcid":"https://orcid.org/0000-0002-6710-7166"},"institutions":[{"id":"https://openalex.org/I132369690","display_name":"Tianjin University of Science and Technology","ror":"https://ror.org/018rbtf37","country_code":"CN","type":"education","lineage":["https://openalex.org/I132369690"]},{"id":"https://openalex.org/I136765683","display_name":"Tianjin University of Technology","ror":"https://ror.org/00zbe0w13","country_code":"CN","type":"education","lineage":["https://openalex.org/I136765683"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Wang","raw_affiliation_strings":["School of Electrical Engineering and Automation, Tianjin University of Technology, Tianjin 300384, P.\u00a0R.\u00a0China"],"raw_orcid":"https://orcid.org/0000-0002-6710-7166","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Automation, Tianjin University of Technology, Tianjin 300384, P.\u00a0R.\u00a0China","institution_ids":["https://openalex.org/I132369690","https://openalex.org/I136765683"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Wei Wei","orcid":"https://orcid.org/0009-0007-9941-4615"},"institutions":[{"id":"https://openalex.org/I308837","display_name":"Suzhou University of Science and Technology","ror":"https://ror.org/04en8wb91","country_code":"CN","type":"education","lineage":["https://openalex.org/I308837"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Wei","raw_affiliation_strings":["School of Electronics & Information Engineering, Suzhou University of Science and Technology, Suzhou 215009, P.\u00a0R.\u00a0China"],"raw_orcid":"https://orcid.org/0009-0007-9941-4615","affiliations":[{"raw_affiliation_string":"School of Electronics & Information Engineering, Suzhou University of Science and Technology, Suzhou 215009, P.\u00a0R.\u00a0China","institution_ids":["https://openalex.org/I308837"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103558596","display_name":"Zhili Zhang","orcid":"https://orcid.org/0009-0008-8831-0180"},"institutions":[{"id":"https://openalex.org/I4210102575","display_name":"TianjinSino-German University of Applied Sciences","ror":"https://ror.org/01243ws42","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210102575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhili Zhang","raw_affiliation_strings":["Intelligent Manufacturing College, Tianjin Sino-German University of Applied Sciences, Tianjin 300350, P.\u00a0R.\u00a0China"],"raw_orcid":"https://orcid.org/0009-0008-8831-0180","affiliations":[{"raw_affiliation_string":"Intelligent Manufacturing College, Tianjin Sino-German University of Applied Sciences, Tianjin 300350, P.\u00a0R.\u00a0China","institution_ids":["https://openalex.org/I4210102575"]}]},{"author_position":"last","author":{"id":null,"display_name":"Weimin Ge","orcid":"https://orcid.org/0009-0001-7493-7950"},"institutions":[{"id":"https://openalex.org/I133270356","display_name":"Tianjin University of Technology and Education","ror":"https://ror.org/035gwtk09","country_code":"CN","type":"education","lineage":["https://openalex.org/I133270356"]},{"id":"https://openalex.org/I136765683","display_name":"Tianjin University of Technology","ror":"https://ror.org/00zbe0w13","country_code":"CN","type":"education","lineage":["https://openalex.org/I136765683"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weimin Ge","raw_affiliation_strings":["National Demonstration Center for Experimental Mechanical and Electrical Engineering Education, School of Mechanical Engineering, Tianjin University of Technology, Tianjin 300384, P.\u00a0R.\u00a0China","Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, School of Mechanical Engineering, Tianjin University of Technology, Tianjin 300384, P.\u00a0R.\u00a0China"],"raw_orcid":"https://orcid.org/0009-0001-7493-7950","affiliations":[{"raw_affiliation_string":"National Demonstration Center for Experimental Mechanical and Electrical Engineering Education, School of Mechanical Engineering, Tianjin University of Technology, Tianjin 300384, P.\u00a0R.\u00a0China","institution_ids":["https://openalex.org/I133270356","https://openalex.org/I136765683"]},{"raw_affiliation_string":"Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, School of Mechanical Engineering, Tianjin University of Technology, Tianjin 300384, P.\u00a0R.\u00a0China","institution_ids":["https://openalex.org/I136765683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.10766393,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"34","issue":"06","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9562000036239624,"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":0.9562000036239624,"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":0.9441913366317749},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5091258883476257},{"id":"https://openalex.org/keywords/powered-exoskeleton","display_name":"Powered exoskeleton","score":0.4895842969417572},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.4790966808795929},{"id":"https://openalex.org/keywords/metabolic-cost","display_name":"Metabolic cost","score":0.47351789474487305},{"id":"https://openalex.org/keywords/lower-limb","display_name":"Lower limb","score":0.4435168504714966},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3376061022281647},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3244971036911011},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.21649709343910217},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.07456156611442566}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.9441913366317749},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5091258883476257},{"id":"https://openalex.org/C45391945","wikidata":"https://www.wikidata.org/wiki/Q938523","display_name":"Powered exoskeleton","level":3,"score":0.4895842969417572},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.4790966808795929},{"id":"https://openalex.org/C2991809073","wikidata":"https://www.wikidata.org/wiki/Q240673","display_name":"Metabolic cost","level":2,"score":0.47351789474487305},{"id":"https://openalex.org/C2989316616","wikidata":"https://www.wikidata.org/wiki/Q6027402","display_name":"Lower limb","level":2,"score":0.4435168504714966},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3376061022281647},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3244971036911011},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.21649709343910217},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.07456156611442566}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1142/s0218126625500331","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0218126625500331","pdf_url":null,"source":{"id":"https://openalex.org/S167602672","display_name":"Journal of Circuits Systems and Computers","issn_l":"0218-1266","issn":["0218-1266","1793-6454"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Circuits, Systems and Computers","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W1966349570","https://openalex.org/W1991235214","https://openalex.org/W2014066602","https://openalex.org/W2074799954","https://openalex.org/W2076829227","https://openalex.org/W2102046115","https://openalex.org/W2145079789","https://openalex.org/W2411309527","https://openalex.org/W2734810013","https://openalex.org/W2745042350","https://openalex.org/W2772424378","https://openalex.org/W2788331089","https://openalex.org/W2883265178","https://openalex.org/W2890923088","https://openalex.org/W2946765663","https://openalex.org/W2956270906","https://openalex.org/W2967902380","https://openalex.org/W2972566546","https://openalex.org/W2974273049","https://openalex.org/W3009028912","https://openalex.org/W3012255178","https://openalex.org/W3012841673","https://openalex.org/W3034752348","https://openalex.org/W3045517625","https://openalex.org/W3181787448","https://openalex.org/W3186796064","https://openalex.org/W4309646573","https://openalex.org/W4327862110","https://openalex.org/W4360616112","https://openalex.org/W4376279301","https://openalex.org/W4376643066","https://openalex.org/W4383097633","https://openalex.org/W4385307198","https://openalex.org/W4386280880","https://openalex.org/W4388052979","https://openalex.org/W4390511873","https://openalex.org/W4398222763","https://openalex.org/W4399666271"],"related_works":["https://openalex.org/W1991235214","https://openalex.org/W1989011507","https://openalex.org/W4386159943","https://openalex.org/W2808226217","https://openalex.org/W2015794229","https://openalex.org/W2893851384","https://openalex.org/W2745042350","https://openalex.org/W4388283394","https://openalex.org/W2908002960","https://openalex.org/W1979441261"],"abstract_inverted_index":{"Lower":[0],"limb":[1],"exoskeletons":[2],"are":[3,102],"widely":[4],"studied":[5],"to":[6,39,51,104,128],"provide":[7,52],"assistance":[8,61],"for":[9,90,134],"both":[10,147],"disabled":[11],"and":[12,43,59,78,99,109,137,151,191],"healthy":[13],"person.":[14],"The":[15],"assisting":[16,24,47,72,76,107,113,132,183],"efficacy":[17,141],"would":[18],"be":[19],"more":[20,27,56,188],"significant":[21],"if":[22],"the":[23,31,41,46,69,106,124,131,140,143,158,162,181],"strategy":[25,73,114,184],"is":[26,62,121],"in":[28,82,94,123],"line":[29],"with":[30,55,74,149,187],"movement":[32],"characteristics":[33],"of":[34,45,142,166],"different":[35,53],"wearers.":[36],"However,":[37],"how":[38],"optimize":[40,105],"timing":[42,77,108],"magnitude":[44,79],"torque":[48,133],"so":[49],"as":[50],"wearers":[54],"personalized,":[57],"comfortable":[58,190],"balanced":[60,192],"still":[63],"not":[64],"well":[65],"tackled.":[66],"To":[67],"address":[68],"issue,":[70],"an":[71,112],"adjustable":[75],"was":[80,126,146],"designed":[81,87,127,144,159,182],"this":[83],"paper.":[84],"First,":[85],"we":[86],"a":[88],"framework":[89,125],"smart":[91],"human-exoskeleton":[92],"collaboration":[93],"which":[95,120],"machine":[96],"learning":[97],"methods":[98],"human-in-the-loop":[100],"methodology":[101],"combined":[103],"magnitude.":[110],"Second,":[111],"based":[115],"on":[116,173],"hip":[117,135],"joints":[118],"trajectory,":[119],"embedded":[122],"separately":[129],"plan":[130],"flexion":[136],"extension.":[138],"Third,":[139],"method":[145,160],"verified":[148],"quantitative":[150],"qualitative":[152],"results.":[153],"Quantitative":[154],"results":[155,178],"showed":[156,179],"that":[157,180],"reduced":[161],"net":[163],"metabolic":[164],"cost":[165],"walking":[167],"during":[168],"load":[169],"carriage":[170],"by":[171],"2.68%":[172],"average.":[174],"And":[175],"questionnaire":[176],"survey":[177],"provided":[185],"subjects":[186],"significant,":[189],"assistance.":[193]},"counts_by_year":[],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}