{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,6]],"date-time":"2026-03-06T15:16:13Z","timestamp":1772810173708,"version":"3.50.1"},"reference-count":26,"publisher":"Springer Science and Business Media LLC","issue":"2","license":[{"start":{"date-parts":[[2022,12,2]],"date-time":"2022-12-02T00:00:00Z","timestamp":1669939200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2022,12,2]],"date-time":"2022-12-02T00:00:00Z","timestamp":1669939200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"funder":[{"DOI":"10.13039\/501100001809","name":"national natural science foundation of china","doi-asserted-by":"publisher","award":["61801122"],"award-info":[{"award-number":["61801122"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Med Biol Eng Comput"],"published-print":{"date-parts":[[2023,2]]},"DOI":"10.1007\/s11517-022-02704-y","type":"journal-article","created":{"date-parts":[[2022,12,2]],"date-time":"2022-12-02T15:11:51Z","timestamp":1669993911000},"page":"421-434","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":10,"title":["The effect of the 2-UPS\/RR ankle rehabilitation robot with coupling biomechanical model on muscle behaviors"],"prefix":"10.1007","volume":"61","author":[{"given":"You","family":"Shengxian","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0965-1120","authenticated-orcid":false,"given":"Lu","family":"Zongxing","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Wang","family":"Jing","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Guo","family":"Lin","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2022,12,2]]},"reference":[{"key":"2704_CR1","doi-asserted-by":"publisher","first-page":"99","DOI":"10.1016\/j.apergo.2017.04.008","volume":"63","author":"J Van Houcke","year":"2017","unstructured":"Van Houcke J, Schouten A, Steenackers G et al (2017) Computer-based estimation of the hip joint reaction force and hip flexion angle in three different sitting configurations[J]. Appl Ergon 63:99\u2013105","journal-title":"Appl Ergon"},{"issue":"12","key":"2704_CR2","doi-asserted-by":"publisher","first-page":"1219","DOI":"10.1177\/0954411918809141","volume":"232","author":"E Hazrati","year":"2018","unstructured":"Hazrati E, Azghani MR (2018) The effect of saddle height and saddle position changes from pedal on muscles and joints behaviors in ergometer: a parametric study[J]. Proc Inst Mech Eng [H] 232(12):1219\u20131229","journal-title":"Proc Inst Mech Eng [H]"},{"issue":"10","key":"2704_CR3","doi-asserted-by":"publisher","first-page":"2068","DOI":"10.1109\/TBME.2016.2586891","volume":"63","author":"A Rajagopal","year":"2016","unstructured":"Rajagopal A, Dembia C, Demers MS et al (2016) Full-body musculoskeletal model for muscle-driven simulation of human gait[J]. IEEE Trans Biomed Eng 63(10):2068\u20132079","journal-title":"IEEE Trans Biomed Eng"},{"issue":"14","key":"2704_CR4","doi-asserted-by":"publisher","first-page":"2709","DOI":"10.1016\/j.jbiomech.2010.06.025","volume":"43","author":"SR Hamner","year":"2010","unstructured":"Hamner SR, Seth A, Delp SL (2010) Muscle contributions to propulsion and support during running[J]. J Biomech 43(14):2709\u20132716","journal-title":"J Biomech"},{"key":"2704_CR5","doi-asserted-by":"crossref","unstructured":"Zongxing L, Xiangwen W, Shengxian Y (2020) The effect of sitting position changes from pedaling rehabilitation on muscle activity[J]. Computer Methods in Biomechanics and Biomedical Engineering, 1\u201310","DOI":"10.1080\/10255842.2020.1823377"},{"key":"2704_CR6","doi-asserted-by":"crossref","unstructured":"Fenfang Z, Zhu G, Tsoi Y H, et al (2014) A computational biomechanical model of the human ankle for development of an ankle rehabilitation robot[C]\/\/2014 IEEE\/ASME 10th International Conference on Mechatronic and Embedded Systems and Applications (MESA). IEEE, 1\u20136","DOI":"10.1109\/MESA.2014.6935529"},{"key":"2704_CR7","doi-asserted-by":"crossref","unstructured":"Shi M, Yang C, Zhang D (2021) A novel human-machine collaboration model of an ankle joint rehabilitation robot driven by EEG signals[J]. Mathematical Problems in Engineering, 2021","DOI":"10.1155\/2021\/5564235"},{"key":"2704_CR8","doi-asserted-by":"crossref","unstructured":"Wang Y, Mei Z, Xu J, et al (2012) Kinematic design of a parallel ankle rehabilitation robot for sprained ankle physiotherapy[J]. Advanced ence Letters 1643 - 1649","DOI":"10.1109\/ROBIO.2012.6491203"},{"issue":"2","key":"2704_CR9","doi-asserted-by":"publisher","first-page":"207","DOI":"10.1023\/B:AURO.0000016866.80026.d7","volume":"16","author":"JS Dai","year":"2004","unstructured":"Dai JS, Zhao T, Nester C (2004) Sprained ankle physiotherapy based mechanism synthesis and stiffness analysis of a robotic rehabilitation device[J]. Auton Robot 16(2):207\u2013218","journal-title":"Auton Robot"},{"issue":"11","key":"2704_CR10","doi-asserted-by":"publisher","first-page":"1537","DOI":"10.1016\/j.mechmachtheory.2010.06.017","volume":"45","author":"PK Jamwal","year":"2010","unstructured":"Jamwal PK, Xie SQ, Tsoi YH et al (2010) Forward kinematics modelling of a parallel ankle rehabilitation robot using modified fuzzy inference[J]. Mech Mach Theory 45(11):1537\u20131554","journal-title":"Mech Mach Theory"},{"issue":"9","key":"2704_CR11","doi-asserted-by":"publisher","first-page":"1216","DOI":"10.1177\/0278364909104221","volume":"28","author":"JA Saglia","year":"2009","unstructured":"Saglia JA, Tsagarakis NG, Dai JS et al (2009) A high-performance redundantly actuated parallel mechanism for ankle rehabilitation[J]. Int J Robot Res 28(9):1216\u20131227","journal-title":"Int J Robot Res"},{"issue":"11","key":"2704_CR12","doi-asserted-by":"publisher","first-page":"2093","DOI":"10.1016\/j.jbiomech.2010.04.004","volume":"43","author":"DK Pai","year":"2010","unstructured":"Pai DK (2010) Muscle mass in musculoskeletal models[J]. J Biomech 43(11):2093\u20132098","journal-title":"J Biomech"},{"key":"2704_CR13","unstructured":"Adam Siemienski (1989) Soft saturation, an idea for load sharing between muscles. Application to the study of human locomotion[C]\/\/ Biolocomotion: A Century of Research Using Moving Pictures"},{"issue":"4","key":"2704_CR14","first-page":"359","volume":"17","author":"FE Zajac","year":"1989","unstructured":"Zajac FE (1989) Muscle and tendon: properties, models, scaling, and application to biomechanics and motor control[J]. Crit Rev Biomed Eng 17(4):359\u2013411","journal-title":"Crit Rev Biomed Eng"},{"key":"2704_CR15","doi-asserted-by":"crossref","unstructured":"Sartori M, Reggiani M, Lloyd DG, et al (2011) A neuromusculoskeletal model of the human lower limb: towards EMG-driven actuation of multiple joints in powered orthoses[C]\/\/ IEEE International Conference on Rehabilitation Robotics. Beijing,China IEEE","DOI":"10.1109\/ICORR.2011.5975441"},{"issue":"5","key":"2704_CR16","doi-asserted-by":"publisher","first-page":"696","DOI":"10.4085\/1062-6050-48.4.11","volume":"48","author":"M Terada","year":"2013","unstructured":"Terada M, Pietrosimone BG, Gribble PA (2013) Therapeutic interventions for increasing ankle dorsiflexion after ankle sprain: a systematic review[J]. J Athletic Train 48(5):696\u2013709","journal-title":"J Athletic Train"},{"issue":"3","key":"2704_CR17","doi-asserted-by":"publisher","first-page":"592","DOI":"10.1016\/j.apergo.2013.08.003","volume":"45","author":"C Pontonnier","year":"2014","unstructured":"Pontonnier C, De Zee M, Samani A et al (2014) Strengths and limitations of a musculoskeletal model for an analysis of simulated meat cutting tasks [J]. Appl Ergon 45(3):592\u2013600","journal-title":"Appl Ergon"},{"key":"2704_CR18","doi-asserted-by":"publisher","first-page":"3","DOI":"10.1016\/j.jbiomech.2018.12.013","volume":"84","author":"T Dupr\u00e9","year":"2019","unstructured":"Dupr\u00e9 T, Dietzsch M, Komnik I et al (2019) Agreement of measured and calculated muscle activity during highly dynamic movements modelled with a spherical knee joint [J]. J Biomech 84:3\u201380","journal-title":"J Biomech"},{"issue":"14","key":"2704_CR19","doi-asserted-by":"publisher","first-page":"2981","DOI":"10.1016\/j.jbiomech.2008.07.032","volume":"41","author":"SR Dubowsky","year":"2008","unstructured":"Dubowsky SR, Rasmussen J, Sisto SA et al (2008) Validation of a musculoskeletal model of wheelchair propulsion and its application to minimizing shoulder joint forces [J]. J Biomech 41(14):2981\u20132988","journal-title":"J Biomech"},{"key":"2704_CR20","doi-asserted-by":"crossref","unstructured":"Yao L G, Liao Z W, Lu Z X, et al (2018) Nutation motion based trajectory planning for a novel hybrid ankle rehabilitation device[J]. J Mech Eng (online publishing), 1\u20138","DOI":"10.3901\/JME.2018.21.033"},{"issue":"1","key":"2704_CR21","first-page":"30","volume":"10","author":"M Zhang","year":"2013","unstructured":"Zhang M, Claire Davies T (2013) Effectiveness of robot-assisted therapy on ankle rehabilitation \u2013 a systematic review[J]. J Neuro Eng Rehabilitation 10(1):30\u201338","journal-title":"J Neuro Eng Rehabilitation"},{"issue":"3","key":"2704_CR22","doi-asserted-by":"crossref","first-page":"172988141771079","DOI":"10.1177\/1729881417710796","volume":"14","author":"J Li","year":"2017","unstructured":"Li J, Zhang Z, Tao C et al (2017) A number synthesis method of the self-adapting upper-limb rehabilitation exoskeletons[J]. Int J Adv Rob Syst 14(3):1729881417710796","journal-title":"Int J Adv Rob Syst"},{"key":"2704_CR23","doi-asserted-by":"crossref","unstructured":"Zhou Z, Zhou Y, Wang N, et al (2014) On the design of a robot-assisted rehabilitation system for ankle joint with contracture and\/or spasticity based on proprioceptive neuromuscular facilitation[C]\/\/ 2014 IEEE International Conference on Robotics and Automation (ICRA 2014), Hong Kong, China 31 May -7 June 2014","DOI":"10.1109\/ICRA.2014.6906936"},{"issue":"4","key":"2704_CR24","doi-asserted-by":"publisher","first-page":"041003","DOI":"10.1115\/1.4024736","volume":"5","author":"C Wang","year":"2013","unstructured":"Wang C, Fang Y, Guo S et al (2013) Design and kinematical performance analysis of a 3-RUS\/R RR redundantly actuated parallel mechanism for ankle rehabilitation[J]. J Mech Robot 5(4):041003","journal-title":"J Mech Robot"},{"issue":"3","key":"2704_CR25","doi-asserted-by":"publisher","first-page":"743","DOI":"10.1007\/s10514-016-9551-7","volume":"41","author":"A Erdogan","year":"2017","unstructured":"Erdogan A, Celebi B, Satici AC et al (2017) Assist on-ankle: a reconfigurable ankle exoskeleton with series-elastic actuation[J]. Auton Robot 41(3):743\u2013758","journal-title":"Auton Robot"},{"key":"2704_CR26","doi-asserted-by":"crossref","unstructured":"Zhang L, Li J, Dong M, et al (2019) Design and workspace analysis of a parallel ankle rehabilitation robot (PARR)[J]. Journal of healthcare engineering, 2019","DOI":"10.1155\/2019\/4164790"}],"container-title":["Medical &amp; Biological Engineering &amp; Computing"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11517-022-02704-y.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s11517-022-02704-y\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11517-022-02704-y.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,1,20]],"date-time":"2023-01-20T05:47:19Z","timestamp":1674193639000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s11517-022-02704-y"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,12,2]]},"references-count":26,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2023,2]]}},"alternative-id":["2704"],"URL":"https:\/\/doi.org\/10.1007\/s11517-022-02704-y","relation":{},"ISSN":["0140-0118","1741-0444"],"issn-type":[{"value":"0140-0118","type":"print"},{"value":"1741-0444","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,12,2]]},"assertion":[{"value":"27 June 2021","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"21 September 2022","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"2 December 2022","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"For this type of study, formal consent is not required. The study was conducted according to the guidelines of the Declaration of Helsinki, and approved by the institutional review board of the School of Mechanical Engineering and Automation of Fuzhou University (202108","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Ethical approval and consent to participate"}},{"value":"The authors declare no competing interests.","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of interest"}}]}}