{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,23]],"date-time":"2025-10-23T13:48:09Z","timestamp":1761227289186,"version":"build-2065373602"},"publisher-location":"Singapore","reference-count":23,"publisher":"Springer Nature Singapore","isbn-type":[{"value":"9789819521005","type":"print"},{"value":"9789819521012","type":"electronic"}],"license":[{"start":{"date-parts":[[2025,10,24]],"date-time":"2025-10-24T00:00:00Z","timestamp":1761264000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2025,10,24]],"date-time":"2025-10-24T00:00:00Z","timestamp":1761264000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2026]]},"DOI":"10.1007\/978-981-95-2101-2_55","type":"book-chapter","created":{"date-parts":[[2025,10,23]],"date-time":"2025-10-23T13:26:55Z","timestamp":1761226015000},"page":"673-686","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Design and Modeling of a Modular Cable-Driven Lower-Limb Exoskeleton with Compact Torque Sensors"],"prefix":"10.1007","author":[{"given":"Jia","family":"Yao","sequence":"first","affiliation":[]},{"given":"Zhijun","family":"Fu","sequence":"additional","affiliation":[]},{"given":"Xiao","family":"Yang","sequence":"additional","affiliation":[]},{"given":"Shuowen","family":"Yi","sequence":"additional","affiliation":[]},{"given":"Siyu","family":"Liu","sequence":"additional","affiliation":[]},{"given":"Zhao","family":"Guo","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2025,10,24]]},"reference":[{"key":"55_CR1","unstructured":"WHO: Ageing and health. https:\/\/www.who.int\/news-room\/fact-sheets\/detail\/ageing-and-health. 6 June 2025"},{"key":"55_CR2","unstructured":"National Health Commission of the People's Republic of China: Cerebrovascular Disease Prevention and Treatment Guidelines (2024 Edition). Chin. J. Magn. Reson. Imaging 16(1), 1\u20138 (2025)"},{"issue":"4","key":"55_CR3","first-page":"497","volume":"49","author":"H Zhao","year":"2024","unstructured":"Zhao, H., et al.: Best evidence summary for rehabilitation management of stroke patients with motor dysfunction. J. Central South Univ. (Med. Sci.) 49(4), 497\u2013507 (2024)","journal-title":"J. Central South Univ. (Med. Sci.)"},{"key":"55_CR4","unstructured":"Zhu, Y., et al.: Lower limb exoskeleton based on variable stiffness actuation. Robot 45(3), 257\u2013266+312 (2023)"},{"issue":"5","key":"55_CR5","first-page":"522","volume":"44","author":"Y Ding","year":"2022","unstructured":"Ding, Y., et al.: Research progress on wearable lower limb exoskeleton rehabilitation robots. Robot 44(5), 522\u2013532 (2022)","journal-title":"Robot"},{"key":"55_CR6","doi-asserted-by":"crossref","unstructured":"Yang, J, et al. A review on human intent understanding and compliance control strategies for lower limb exoskeletons. Proc. Instit. Mech. Eng., Part I: J. Syst. Control Eng. 236(6), 1067\u20131086 (2022)","DOI":"10.1177\/09596518221085793"},{"key":"55_CR7","first-page":"211","volume":"2009","author":"A Tsukahara","year":"2009","unstructured":"Tsukahara, A., Hasegawa, Y., Sankai, Y.: Standing-up motion support for paraplegic patient with Robot Suit HAL. IEEE Int. Conf. Rehabilit. Robot. 2009, 211\u2013217 (2009)","journal-title":"IEEE Int. Conf. Rehabilit. Robot."},{"issue":"1","key":"55_CR8","doi-asserted-by":"crossref","first-page":"88","DOI":"10.1186\/s13020-025-01136-8","volume":"46","author":"H Wang","year":"2025","unstructured":"Wang, H., Hu, L., Wang, Z., et al.: Research progress on lower limb medical rehabilitation exoskeleton robots. Chinese Med. Equipment J. 46(1), 88\u2013100 (2025)","journal-title":"Chinese Med. Equipment J."},{"key":"55_CR9","doi-asserted-by":"crossref","unstructured":"Bartenbach, V,. Gort, M., Riener, R.: Concept and design of a modular lower limb exoskeleton. IEEE (2016)","DOI":"10.1109\/BIOROB.2016.7523699"},{"issue":"4","key":"55_CR10","first-page":"367","volume":"50","author":"Q Meng","year":"2022","unstructured":"Meng, Q., Zeng, Q., Xie, Q., et al.: Flexible lower limb exoskeleton systems: a review. NeuroRehabilitation 50(4), 367\u2013390 (2022)","journal-title":"NeuroRehabilitation"},{"key":"55_CR11","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2021.103846","volume":"144","author":"AM Khomami","year":"2021","unstructured":"Khomami, A.M., Najafi, F.: A survey on soft lower limb cable-driven wearable robots without rigid links and joints. Robot. Auton. Syst. 144, 103846 (2021)","journal-title":"Robot. Auton. Syst."},{"key":"55_CR12","doi-asserted-by":"crossref","unstructured":"Qian, W., Liao, J., Lu, L., et al.: Curer: A lightweight cable-driven compliant upper limb rehabilitation exoskeleton robot. IEEE\/ASME Trans. Mechatron., (2022)","DOI":"10.1109\/TMECH.2022.3224423"},{"issue":"5","key":"55_CR13","doi-asserted-by":"publisher","first-page":"1089","DOI":"10.1109\/TRO.2015.2457314","volume":"31","author":"H Yu","year":"2015","unstructured":"Yu, H., Huang, S., Chen, G., et al.: Human\u2013robot interaction control of rehabilitation robots with series elastic actuators. IEEE Trans. Rob. 31(5), 1089\u20131100 (2015)","journal-title":"IEEE Trans. Rob."},{"issue":"5","key":"55_CR14","doi-asserted-by":"publisher","first-page":"2121","DOI":"10.1109\/TMECH.2018.2854742","volume":"23","author":"J Sun","year":"2018","unstructured":"Sun, J., Guo, Z., Zhang, Y., et al.: A novel design of serial variable stiffness actuator based on an archimedean spiral relocation mechanism. IEEE\/ASME Trans. Mechatron. 23(5), 2121\u20132131 (2018)","journal-title":"IEEE\/ASME Trans. Mechatron."},{"key":"55_CR15","doi-asserted-by":"crossref","unstructured":"Lee. S., Karavas, N., Quinlivan, B.T., et al.: Autonomous multi-joint soft exosuit for assistance with walking overground. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 2812\u20132819. IEEE (2018)","DOI":"10.1109\/ICRA.2018.8460972"},{"issue":"4","key":"55_CR16","doi-asserted-by":"publisher","first-page":"456","DOI":"10.1038\/s41551-022-00984-1","volume":"7","author":"C Siviy","year":"2023","unstructured":"Siviy, C., et al.: Opportunities and challenges in the development of exoskeletons for locomotor assistance. Nat. Biomed. Eng. 7(4), 456\u2013472 (2023)","journal-title":"Nat. Biomed. Eng."},{"key":"55_CR17","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1186\/s12984-020-00774-3","volume":"18","author":"R Baud","year":"2021","unstructured":"Baud, R., et al.: Review of control strategies for lower-limb exoskeletons to assist gait. J. Neuroeng. Rehabilit. 18, 1\u201334 (2021)","journal-title":"J. Neuroeng. Rehabilit."},{"issue":"1","key":"55_CR18","doi-asserted-by":"publisher","first-page":"292","DOI":"10.1109\/TMECH.2021.3063374","volume":"27","author":"YH Zhu","year":"2021","unstructured":"Zhu, Y.H., Wu, Q.C., Chen, B., et al.: Design and evaluation of a novel torque-controllable variable stiffness actuator with reconfigurability. IEEE\/ASME Trans. Mechatron. 27(1), 292\u2013303 (2021)","journal-title":"IEEE\/ASME Trans. Mechatron."},{"issue":"2","key":"55_CR19","doi-asserted-by":"publisher","first-page":"5787","DOI":"10.1109\/LRA.2022.3160668","volume":"7","author":"YH Zhu","year":"2022","unstructured":"Zhu, Y.H., Wu, Q.C., Chen, B., et al.: Design and voluntary control of variable stiffness exoskeleton based on semg driven model. IEEE Robot. Autom. Lett. 7(2), 5787\u20135794 (2022)","journal-title":"IEEE Robot. Autom. Lett."},{"key":"55_CR20","doi-asserted-by":"crossref","unstructured":"Ma, L., Jiang, et al.: Design an underactuated soft exoskeleton to sequentially provide knee extension and ankle plantarflexion assistance. IEEE Robot. Autom. Lett. 7(1), 271\u2013278 (2022)","DOI":"10.1109\/LRA.2021.3124081"},{"key":"55_CR21","doi-asserted-by":"crossref","unstructured":"Yi, S., et al.: Design and modeling of a lightweight lower limb exoskeleton with compliant knee joints. In: 2023 IEEE International Conference on Robotics and Biomimetics (ROBIO). IEEE (2023)","DOI":"10.1109\/ROBIO58561.2023.10355018"},{"key":"55_CR22","unstructured":"China National Institute of Standardization, Anta Co., Ltd., GAC Group Automotive Engineering Research Institute, et al.: Chinese Adult Human Dimensions. GB\/T 10000\u20132023, p. 44 (2023)"},{"issue":"7","key":"55_CR23","doi-asserted-by":"publisher","first-page":"6640","DOI":"10.1109\/LRA.2024.3405381","volume":"9","author":"S Qiu","year":"2024","unstructured":"Qiu, S., Pei, Z., Shi, J., et al.: Design-modeling and control of a novel wearable exoskeleton for lower-limb enhancement. IEEE Robot. Autom. Lett. 9(7), 6640\u20136647 (2024)","journal-title":"IEEE Robot. Autom. Lett."}],"container-title":["Lecture Notes in Computer Science","Intelligent Robotics and Applications"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/978-981-95-2101-2_55","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,23]],"date-time":"2025-10-23T13:27:01Z","timestamp":1761226021000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/978-981-95-2101-2_55"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,10,24]]},"ISBN":["9789819521005","9789819521012"],"references-count":23,"URL":"https:\/\/doi.org\/10.1007\/978-981-95-2101-2_55","relation":{},"ISSN":["0302-9743","1611-3349"],"issn-type":[{"value":"0302-9743","type":"print"},{"value":"1611-3349","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,10,24]]},"assertion":[{"value":"24 October 2025","order":1,"name":"first_online","label":"First Online","group":{"name":"ChapterHistory","label":"Chapter History"}},{"value":"ICIRA","order":1,"name":"conference_acronym","label":"Conference Acronym","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"International Conference on Intelligent Robotics and Applications","order":2,"name":"conference_name","label":"Conference Name","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Okayama","order":3,"name":"conference_city","label":"Conference City","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Japan","order":4,"name":"conference_country","label":"Conference Country","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"2025","order":5,"name":"conference_year","label":"Conference Year","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"6 August 2025","order":7,"name":"conference_start_date","label":"Conference Start Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"9 August 2025","order":8,"name":"conference_end_date","label":"Conference End Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"18","order":9,"name":"conference_number","label":"Conference Number","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"icira2025","order":10,"name":"conference_id","label":"Conference ID","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"https:\/\/www.icira2025.com\/","order":11,"name":"conference_url","label":"Conference URL","group":{"name":"ConferenceInfo","label":"Conference Information"}}]}}