{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,20]],"date-time":"2026-03-20T16:11:55Z","timestamp":1774023115717,"version":"3.50.1"},"reference-count":26,"publisher":"Wiley","issue":"5","license":[{"start":{"date-parts":[[2024,12,2]],"date-time":"2024-12-02T00:00:00Z","timestamp":1733097600000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":["onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Journal of Field Robotics"],"published-print":{"date-parts":[[2025,8]]},"abstract":"<jats:title>ABSTRACT<\/jats:title><jats:p>The power\u2010assisted exoskeletons have a far\u2010reaching research significance. The adaptive active control strategy (AACS) of the exoskeleton allows the wearers to achieve personalized assistance tailored to their specific movement patterns and physical needs. However, due to the high requirements for waterproof design and the high difficulty in underwater AACS design, the researches on underwater power\u2010assisting exoskeletons are hardly to be seen. Therefore, this research proposes a cable\u2010driven hip swimming\u2010assisted exoskeleton (SAE) utilizing an AACS. SAE can generate adaptive power\u2010assisting guiding trajectories of thighs by underwater motion intention perception (UMIP) of the wearer. To achieve UMIP, a deep learning network is presented by combining conventional neural network, bidirectional long short\u2010term memory network, and attention mechanism (AM\u2010Dconvbilstm). SAE guides the wearer's thighs to move along the generated guiding trajectory by UMIP through the cables to conduct hip power assisting. The feasibility of the proposed AM\u2010Dconvbilstm on UMIP and the power\u2010assisting effect of designed SAE are tested on three elite swimmers by recording corresponding data from IMUs and a sports watch. According to the results of generated trajectories from SAE and actual trajectories from the wearer, the proposed AM\u2010Dconvbilstm model is verified to predict the wearer's hip motion intention accurately. The power\u2010assisting effect of SAE is also verified according to the sports watch's heart rate and average energy consumption. All the experiment results greatly validated the feasibility of the proposed AACS and designed SAE.<\/jats:p>","DOI":"10.1002\/rob.22484","type":"journal-article","created":{"date-parts":[[2024,12,2]],"date-time":"2024-12-02T06:37:29Z","timestamp":1733121449000},"page":"1874-1886","update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":5,"title":["Study of a Cable\u2010Driven Hip Swimming\u2010Assisted Exoskeleton Utilizing Adaptive Active Control Strategy"],"prefix":"10.1002","volume":"42","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-4281-1982","authenticated-orcid":false,"given":"Longwen","family":"Chen","sequence":"first","affiliation":[{"name":"Key Laboratory of Advanced Design and Simulation Techniques for Special Equipment, Ministry of Education Hunan University Changsha China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Dean","family":"Hu","sequence":"additional","affiliation":[{"name":"Key Laboratory of Advanced Design and Simulation Techniques for Special Equipment, Ministry of Education Hunan University Changsha China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2024,12,2]]},"reference":[{"issue":"5","key":"e_1_2_9_2_1","doi-asserted-by":"crossref","first-page":"585","DOI":"10.1108\/IR-05-2018-0109","article-title":"Exoskeletons\u2014A Review of Industrial Applications","volume":"45","author":"Bogue R.","year":"2018","journal-title":"Industrial Robot: An International Journal"},{"issue":"7","key":"e_1_2_9_3_1","doi-asserted-by":"crossref","first-page":"467","DOI":"10.1080\/01691864.2022.2160274","article-title":"An Effective Swimming Stroke Recognition System Utilizing Deep Learning Based on Inertial Measurement Units","volume":"37","author":"Chen L.","year":"2023","journal-title":"Advanced Robotics"},{"issue":"13","key":"e_1_2_9_4_1","doi-asserted-by":"crossref","first-page":"15058","DOI":"10.1109\/JSEN.2023.3264252","article-title":"A Deep Learning Control Strategy of IMU\u2010Based Joint Angle Estimation for Hip Power\u2010Assisted Swimming Exoskeleton","volume":"23","author":"Chen L.","year":"2023","journal-title":"IEEE Sensors Journal"},{"issue":"1","key":"e_1_2_9_5_1","doi-asserted-by":"crossref","first-page":"14","DOI":"10.1002\/rob.22035","article-title":"Study on Forearm Swing Recognition Algorithms to Drive the Underwater Power\u2010Assisted Device of Frogman","volume":"39","author":"Chen L.","year":"2022","journal-title":"Journal of Field Robotics"},{"key":"e_1_2_9_6_1","first-page":"1579","volume-title":"Conference Proceedings of the IEEE Engineering in Medicine and Biology Society","author":"Contrerasvidal J. L.","year":"2013"},{"issue":"11","key":"e_1_2_9_7_1","doi-asserted-by":"crossref","first-page":"911","DOI":"10.1097\/PHM.0b013e318269d9a3","article-title":"The ReWalk Powered Exoskeleton to Restore Ambulatory Function to Individuals With Thoracic\u2010Level Motor\u2010Complete Spinal Cord Injury","volume":"91","author":"Esquenazi A.","year":"2012","journal-title":"American Journal of Physical Medicine & Rehabilitation"},{"key":"e_1_2_9_8_1","doi-asserted-by":"crossref","DOI":"10.1016\/j.bspc.2022.103557","article-title":"A Deep Learning Strategy for EMG\u2010Based Joint Position Prediction in Hip Exoskeleton Assistive Robots","volume":"75","author":"Foroutannia A.","year":"2022","journal-title":"Biomedical Signal Processing and Control"},{"issue":"4","key":"e_1_2_9_9_1","doi-asserted-by":"crossref","first-page":"266","DOI":"10.3390\/machines10040266","article-title":"Electrically Driven Lower Limb Exoskeleton Rehabilitation Robot Based on Anthropomorphic Design","volume":"10","author":"Gao M.","year":"2022","journal-title":"Machines"},{"issue":"21","key":"e_1_2_9_10_1","doi-asserted-by":"crossref","first-page":"6116","DOI":"10.3390\/s20216116","article-title":"A Kinematic Model of a Humanoid Lower Limb Exoskeleton With Hydraulic Actuators","volume":"20","author":"Glowinski S.","year":"2020","journal-title":"Sensors"},{"key":"e_1_2_9_11_1","doi-asserted-by":"crossref","DOI":"10.1016\/j.autcon.2020.103126","article-title":"Effective Inertial Sensor Quantity and Locations on a Body for Deep Learning\u2010Based Worker's Motion Recognition","volume":"113","author":"Kim K.","year":"2020","journal-title":"Automation in Construction"},{"key":"e_1_2_9_12_1","doi-asserted-by":"crossref","first-page":"47901","DOI":"10.1109\/ACCESS.2021.3068836","article-title":"Human Gait During Level Walking With an Occupational Whole\u2010Body Powered Exoskeleton: Not Yet a Walk in the Park","volume":"9","author":"Kim S.","year":"2021","journal-title":"IEEE Access"},{"issue":"8","key":"e_1_2_9_13_1","doi-asserted-by":"crossref","first-page":"1665","DOI":"10.1007\/s10439-023-03242-w","article-title":"A Systematic Review on Lower\u2010Limb Industrial Exoskeletons: Evaluation Methods, Evidence, and Future Directions","volume":"51","author":"Kuber P. M.","year":"2023","journal-title":"Annals of Biomedical Engineering"},{"key":"e_1_2_9_14_1","first-page":"443","volume-title":"Asian\u2010Pacific Conference on Medical and Biological Engineering","author":"Li X.","year":"2023"},{"key":"e_1_2_9_15_1","doi-asserted-by":"crossref","first-page":"104519","DOI":"10.1016\/j.mechmachtheory.2021.104519","article-title":"Design and Analysis of a Novel 12\u2010DOF Self\u2010Balancing Lower Extremity Exoskeleton for Walking Assistance","volume":"167","author":"Liu J.","year":"2022","journal-title":"Mechanism and Machine Theory"},{"key":"e_1_2_9_16_1","doi-asserted-by":"crossref","first-page":"166815","DOI":"10.1109\/ACCESS.2021.3136242","article-title":"Design and Control of a Reconfigurable Upper Limb Rehabilitation Exoskeleton With Soft Modular Joints","volume":"9","author":"Liu Q.","year":"2021","journal-title":"IEEE Access"},{"issue":"2","key":"e_1_2_9_17_1","doi-asserted-by":"crossref","first-page":"48","DOI":"10.1007\/s10921-024-01054-z","article-title":"Ultrasonic Lamb Wave Damage Detection of CFRP Composites Using the Bayesian Neural Network","volume":"43","author":"Luo K.","year":"2024","journal-title":"Journal of Nondestructive Evaluation"},{"issue":"3","key":"e_1_2_9_18_1","doi-asserted-by":"crossref","first-page":"83","DOI":"10.1177\/02783649231169492","article-title":"Combining Physics and Deep Learning to Learn Continuous\u2010Time Dynamics Models","volume":"42","author":"Lutter M.","year":"2023","journal-title":"International Journal of Robotics Research"},{"key":"e_1_2_9_19_1","doi-asserted-by":"crossref","first-page":"57","DOI":"10.3389\/fnbot.2017.00057","article-title":"The Myosuit: Bi\u2010Articular Anti\u2010Gravity Exosuit That Reduces Hip Extensor Activity in Sitting Transfers","volume":"11","author":"Schmidt K.","year":"2017","journal-title":"Frontiers in Neurorobotics"},{"key":"e_1_2_9_20_1","doi-asserted-by":"crossref","DOI":"10.3389\/fnbot.2023.1186175","article-title":"Review of Adaptive Control for Stroke Lower Limb Exoskeleton Rehabilitation Robot Based on Motion Intention Recognition","volume":"17","author":"Su D.","year":"2023","journal-title":"Frontiers in Neurorobotics"},{"issue":"2","key":"e_1_2_9_21_1","doi-asserted-by":"crossref","first-page":"936","DOI":"10.1109\/LRA.2021.3136240","article-title":"Underactuated Soft Hip Exosuit Based on Adaptive Oscillators to Assist Human Locomotion","volume":"7","author":"Tricomi E.","year":"2022","journal-title":"IEEE Robotics and Automation Letters"},{"issue":"3","key":"e_1_2_9_22_1","doi-asserted-by":"crossref","first-page":"447","DOI":"10.1109\/TMRB.2020.2993360","article-title":"An Underwater Lower\u2010Extremity Soft Exoskeleton for Breaststroke Assistance","volume":"2","author":"Wang Q.","year":"2020","journal-title":"IEEE Transactions on Medical Robotics and Bionics"},{"issue":"1","key":"e_1_2_9_23_1","doi-asserted-by":"crossref","first-page":"221","DOI":"10.1016\/j.bbe.2020.12.010","article-title":"Development and Testing of a Wearable Passive Lower\u2010Limb Support Exoskeleton to Support Industrial Workers","volume":"41","author":"Yan Z.","year":"2021","journal-title":"Biocybernetics Biomedical Engineering"},{"issue":"24","key":"e_1_2_9_24_1","doi-asserted-by":"crossref","first-page":"7216","DOI":"10.3390\/s20247216","article-title":"Lower Limb Exoskeleton Gait Planning Based on Crutch and Human\u2013Machine Foot Combined Center of Pressure","volume":"20","author":"Yang W.","year":"2020","journal-title":"Sensors"},{"issue":"9","key":"e_1_2_9_25_1","doi-asserted-by":"crossref","first-page":"5783","DOI":"10.1109\/LRA.2023.3300279","article-title":"Motion Forecasting Network (MoFCNet): IMU\u2010Based Human Motion Forecasting for Hip Assistive Exoskeleton","volume":"8","author":"Zhang X.","year":"2023","journal-title":"IEEE Robotics and Automation Letters"},{"issue":"4","key":"e_1_2_9_26_1","doi-asserted-by":"crossref","first-page":"8949","DOI":"10.1109\/LRA.2022.3188892","article-title":"Pimnet: Physics\u2010Infused Neural Network for Human Motion Prediction","volume":"7","author":"Zhang Z.","year":"2022","journal-title":"IEEE Robotics and Automation Letters"},{"key":"e_1_2_9_27_1","doi-asserted-by":"crossref","first-page":"103840","DOI":"10.1016\/j.mechmachtheory.2020.103840","article-title":"Design of a Passive Lower Limb Exoskeleton for Walking Assistance With Gravity Compensation","volume":"150","author":"Zhou L.","year":"2020","journal-title":"Mechanism and Machine Theory"}],"container-title":["Journal of Field Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/rob.22484","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,23]],"date-time":"2025-07-23T06:47:06Z","timestamp":1753253226000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1002\/rob.22484"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,12,2]]},"references-count":26,"journal-issue":{"issue":"5","published-print":{"date-parts":[[2025,8]]}},"alternative-id":["10.1002\/rob.22484"],"URL":"https:\/\/doi.org\/10.1002\/rob.22484","archive":["Portico"],"relation":{},"ISSN":["1556-4959","1556-4967"],"issn-type":[{"value":"1556-4959","type":"print"},{"value":"1556-4967","type":"electronic"}],"subject":[],"published":{"date-parts":[[2024,12,2]]},"assertion":[{"value":"2024-07-26","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2024-11-05","order":2,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2024-12-02","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}