{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,27]],"date-time":"2026-02-27T15:31:43Z","timestamp":1772206303360,"version":"3.50.1"},"reference-count":38,"publisher":"Springer Science and Business Media LLC","issue":"12","license":[{"start":{"date-parts":[[2025,7,14]],"date-time":"2025-07-14T00:00:00Z","timestamp":1752451200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2025,7,14]],"date-time":"2025-07-14T00:00:00Z","timestamp":1752451200000},"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":["52175006"],"award-info":[{"award-number":["52175006"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100005046","name":"Natural Science Foundation of Heilongjiang Province","doi-asserted-by":"publisher","award":["LH2023E064"],"award-info":[{"award-number":["LH2023E064"]}],"id":[{"id":"10.13039\/501100005046","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Yongjiang Innovation and Science Initiative 2035","award":["2024Z200"],"award-info":[{"award-number":["2024Z200"]}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Med Biol Eng Comput"],"published-print":{"date-parts":[[2025,12]]},"DOI":"10.1007\/s11517-025-03402-1","type":"journal-article","created":{"date-parts":[[2025,7,14]],"date-time":"2025-07-14T10:46:02Z","timestamp":1752489962000},"page":"3531-3547","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Reconfiguration planning and structure parameter design of a reconfigurable cable-driven lower limb rehabilitation robot"],"prefix":"10.1007","volume":"63","author":[{"given":"Jinghang","family":"Li","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Keyi","family":"Wang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yanzhuo","family":"Wang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yi","family":"Yuan","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2025,7,14]]},"reference":[{"issue":"25","key":"3402_CR1","doi-asserted-by":"publisher","first-page":"2429","DOI":"10.1056\/NEJMoa1804492","volume":"379","author":"GLR Stroke Collaborators","year":"2018","unstructured":"Stroke Collaborators GLR (2018) Global, regional, and country-specific lifetime risks of stroke, 1990 and 2016. N Engl J Med 379(25):2429\u20132437","journal-title":"N Engl J Med"},{"key":"3402_CR2","doi-asserted-by":"crossref","unstructured":"Surdilovic D, Zhang J, Bernhardt R (2007) STRING-MAN: wire-robot technology for safe, flexible and human-friendly gait rehabilitation. In: 2007 IEEE 10th international conference on rehabilitation robotics, pp 446\u2013453. IEEE","DOI":"10.1109\/ICORR.2007.4428463"},{"key":"3402_CR3","doi-asserted-by":"crossref","unstructured":"Krebs HI, Hogan N, Aisen ML, Volpe BT (1998) Robot-aided neurorehabilitation. IEEE Trans Rehabil Eng 6(1):75\u201387","DOI":"10.1109\/86.662623"},{"issue":"3","key":"3402_CR4","doi-asserted-by":"publisher","first-page":"380","DOI":"10.1109\/TNSRE.2005.848628","volume":"13","author":"R Riener","year":"2005","unstructured":"Riener R, Lunenburger L, Jezernik S, Anderschitz M, Colombo G, Dietz V (2005) Patient-cooperative strategies for robot-aided treadmill training: first experimental results. IEEE Trans Neural Syst Rehab Eng 13(3):380\u2013394","journal-title":"IEEE Trans Neural Syst Rehab Eng"},{"issue":"3","key":"3402_CR5","doi-asserted-by":"publisher","first-page":"883","DOI":"10.1007\/s11517-023-02974-0","volume":"62","author":"Y Ning","year":"2024","unstructured":"Ning Y, Wang H, Liu Y, Wang Q, Rong Y, Niu J (2024) Design and analysis of a compatible exoskeleton rehabilitation robot system based on upper limb movement mechanism. Med & Biol Eng & Comput 62(3):883\u2013899","journal-title":"Med & Biol Eng & Comput"},{"issue":"5","key":"3402_CR6","doi-asserted-by":"publisher","first-page":"3437","DOI":"10.1109\/TRO.2023.3286073","volume":"39","author":"S Han","year":"2023","unstructured":"Han S, Wang H, Yu H (2023) Human-robot interaction evaluation-based AAN control for upper limb rehabilitation robots driven by series elastic actuators. IEEE Trans Robot 39(5):3437\u20133451","journal-title":"IEEE Trans Robot"},{"issue":"1","key":"3402_CR7","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1186\/s10033-018-0267-9","volume":"31","author":"S Qian","year":"2018","unstructured":"Qian S, Zi B, Shang W-W, Xu Q-S (2018) A review on cable-driven parallel robots. Chin J Mech Eng 31(1):1\u201311","journal-title":"Chin J Mech Eng"},{"key":"3402_CR8","doi-asserted-by":"crossref","unstructured":"Zi B, Yin G, Li Y, Zhang D (2017) Kinematic performance analysis of a hybrid-driven waist rehabilitation robot. In: Mechatronics and robotics engineering for advanced and intelligent manufacturing, pp 73\u201386. Springer","DOI":"10.1007\/978-3-319-33581-0_6"},{"issue":"24","key":"3402_CR9","doi-asserted-by":"publisher","first-page":"7020","DOI":"10.3390\/s20247020","volume":"20","author":"YL Wang","year":"2020","unstructured":"Wang YL, Wang KY, Wang KC, Mo ZJ (2020) Safety evaluation and experimental study of a new bionic muscle cable-driven lower limb rehabilitation robot. Sensors 20(24):7020","journal-title":"Sensors"},{"issue":"1","key":"3402_CR10","doi-asserted-by":"publisher","first-page":"502","DOI":"10.1109\/LRA.2021.3123747","volume":"7","author":"Q Liu","year":"2021","unstructured":"Liu Q, Zuo J, Zhu C, Meng W, Ai Q, Xie SQ (2021) Design and hierarchical force-position control of redundant pneumatic muscles-cable-driven ankle rehabilitation robot. IEEE Robot Aut Lett 7(1):502\u2013509","journal-title":"IEEE Robot Aut Lett"},{"key":"3402_CR11","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1016\/j.rcim.2017.02.001","volume":"48","author":"L Barbazza","year":"2017","unstructured":"Barbazza L, Oscari F, Minto S, Rosati G (2017) Trajectory planning of a suspended cable driven parallel robot with reconfigurable end effector. Robot Comput-Int Manuf 48:1\u201311","journal-title":"Robot Comput-Int Manuf"},{"key":"3402_CR12","doi-asserted-by":"publisher","first-page":"313","DOI":"10.1016\/j.mechmachtheory.2016.02.014","volume":"100","author":"L Gagliardini","year":"2016","unstructured":"Gagliardini L, Caro S, Gouttefarde M, Girin A (2016) Discrete reconfiguration planning for cable-driven parallel robots. Mech Mach Theory 100:313\u2013337","journal-title":"Mech Mach Theory"},{"key":"3402_CR13","doi-asserted-by":"crossref","unstructured":"Gagliardini L, Caro S, Gouttefarde M, Girin A (2015) A reconfiguration strategy for reconfigurable cable-driven parallel robots. In: 2015 IEEE International conference on robotics and automation (ICRA), pp 1613\u20131620. IEEE","DOI":"10.1109\/ICRA.2015.7139404"},{"key":"3402_CR14","doi-asserted-by":"publisher","first-page":"104141","DOI":"10.1016\/j.mechmachtheory.2020.104141","volume":"156","author":"IB Hamida","year":"2021","unstructured":"Hamida IB, Laribi MA, Mlika A, Romdhane L, Zeghloul S, Carbone G (2021) Multi-objective optimal design of a cable driven parallel robot for rehabilitation tasks. Mech Mach Theory 156:104141","journal-title":"Mech Mach Theory"},{"key":"3402_CR15","doi-asserted-by":"crossref","unstructured":"Wang X, Zhang B, Shang W, Cong S (2023) Optimal reconfiguration planning of a 3-DOF point-mass cable-driven parallel robot. IEEE Trans Ind Electron","DOI":"10.1109\/TIE.2023.3265047"},{"key":"3402_CR16","doi-asserted-by":"crossref","unstructured":"Wang X, Zhang B, Shang W, Zhang F, Cong S (2023) Constrained path planning for reconfiguration of cable-driven parallel robots. IEEE\/ASME Transactions on Mechatronics","DOI":"10.1109\/TMECH.2023.3234569"},{"issue":"6","key":"3402_CR17","doi-asserted-by":"publisher","first-page":"5472","DOI":"10.1109\/TMECH.2022.3181603","volume":"27","author":"H An","year":"2022","unstructured":"An H, Yuan H, Tang K, Xu W, Wang X (2022) A novel cable-driven parallel robot with movable anchor points capable for obstacle environments. IEEE\/ASME Trans Mech 27(6):5472\u20135483","journal-title":"IEEE\/ASME Trans Mech"},{"issue":"5","key":"3402_CR18","doi-asserted-by":"publisher","first-page":"3759","DOI":"10.1109\/TRO.2023.3288838","volume":"39","author":"HH Cheng","year":"2023","unstructured":"Cheng HH, Lau D (2023) Cable attachment optimization for reconfigurable cable-driven parallel robots based on various workspace conditions. IEEE Trans Robot 39(5):3759\u20133775","journal-title":"IEEE Trans Robot"},{"key":"3402_CR19","doi-asserted-by":"publisher","first-page":"103781","DOI":"10.1016\/j.mechmachtheory.2020.103781","volume":"148","author":"K Youssef","year":"2020","unstructured":"Youssef K, Otis MJ-D (2020) Reconfigurable fully constrained cable driven parallel mechanism for avoiding interference between cables. Mech Mach Theory 148:103781","journal-title":"Mech Mach Theory"},{"issue":"12","key":"3402_CR20","doi-asserted-by":"publisher","first-page":"4405","DOI":"10.1017\/S0263574722000996","volume":"40","author":"E Khoshbin","year":"2022","unstructured":"Khoshbin E, Youssef K, Meziane R, Otis MJ-D (2022) Reconfigurable fully constrained cable-driven parallel mechanism for avoiding collision between cables with human. Robotica 40(12):4405\u20134430","journal-title":"Robotica"},{"issue":"3","key":"3402_CR21","doi-asserted-by":"publisher","DOI":"10.1115\/1.4035988","volume":"9","author":"M Anson","year":"2017","unstructured":"Anson M, Alamdari A, Krovi V (2017) Orientation workspace and stiffness optimization of cable-driven parallel manipulators with base mobility. J Mech Robot 9(3):031011","journal-title":"J Mech Robot"},{"issue":"5","key":"3402_CR22","doi-asserted-by":"publisher","first-page":"1266","DOI":"10.1109\/TRO.2018.2830356","volume":"34","author":"A Alamdari","year":"2018","unstructured":"Alamdari A, Haghighi R, Krovi V (2018) Stiffness modulation in an elastic articulated-cable leg-orthosis emulator: theory and experiment. IEEE Trans Robot 34(5):1266\u20131279","journal-title":"IEEE Trans Robot"},{"issue":"5","key":"3402_CR23","doi-asserted-by":"publisher","first-page":"1603","DOI":"10.1109\/TRO.2020.2998613","volume":"36","author":"H Jamshidifar","year":"2020","unstructured":"Jamshidifar H, Khajepour A (2020) Static workspace optimization of aerial cable towed robots with land-fixed winches. IEEE T Robot 36(5):1603\u20131610","journal-title":"IEEE T Robot"},{"key":"3402_CR24","doi-asserted-by":"crossref","unstructured":"Tognon M, Gabellieri C, Pallottino L, Franchi A (2018) Aerial co-manipulation with cables: the role of internal force for equilibria, stability, and passivity. IEEE Robot Autom Lett 3(3):2577\u20132583","DOI":"10.1109\/LRA.2018.2803811"},{"key":"3402_CR25","doi-asserted-by":"crossref","unstructured":"Nguyen DQ, Gouttefarde M (2014) Study of reconfigurable suspended cable-driven parallel robots for airplane maintenance. In: 2014 IEEE\/RSJ international conference on intelligent robots and systems, pp 1682\u20131689. IEEE","DOI":"10.1109\/IROS.2014.6942781"},{"key":"3402_CR26","doi-asserted-by":"crossref","unstructured":"Lippi M, Marino A (2018) Cooperative object transportation by multiple ground and aerial vehicles: modeling and planning. In: 2018 IEEE international conference on robotics and automation (ICRA), pp 1084\u20131090. IEEE","DOI":"10.1109\/ICRA.2018.8460778"},{"key":"3402_CR27","doi-asserted-by":"crossref","unstructured":"Tan H, Nurahmi L, Pramujati B, Caro S (2020) On the reconfiguration of cable-driven parallel robots with multiple mobile cranes. In: 2020 5th International conference on robotics and automation engineering (ICRAE), pp 126\u2013130. IEEE","DOI":"10.1109\/ICRAE50850.2020.9310900"},{"issue":"6","key":"3402_CR28","doi-asserted-by":"publisher","first-page":"3125","DOI":"10.1007\/s12206-023-0537-z","volume":"37","author":"T Li","year":"2023","unstructured":"Li T, Zhao Z, Zhao X, Zhu M, Chen R (2023) Study of cable obstacle avoidance planning of a multi-robot collaborative towing system. J Mech Sci Technol 37(6):3125\u20133139","journal-title":"J Mech Sci Technol"},{"issue":"4","key":"3402_CR29","doi-asserted-by":"publisher","first-page":"1585","DOI":"10.1007\/s42235-023-00349-7","volume":"20","author":"J Li","year":"2023","unstructured":"Li J, Wang K, Wang Y, Wang C (2023) Motion planning for a cable-driven lower limb rehabilitation robot with movable distal anchor points. J Bionic Eng 20(4):1585\u20131596","journal-title":"J Bionic Eng"},{"key":"3402_CR30","doi-asserted-by":"publisher","first-page":"503","DOI":"10.1007\/s42235-019-0041-4","volume":"16","author":"MA Laribi","year":"2019","unstructured":"Laribi MA, Carbone G, Zeghloul S (2019) On the optimal design of cable driven parallel robot with a prescribed workspace for upper limb rehabilitation tasks. J Bionic Eng 16:503\u2013513","journal-title":"J Bionic Eng"},{"key":"3402_CR31","doi-asserted-by":"crossref","unstructured":"Ennaiem F, Chaker A, Sandoval J, Bennour S, Mlika A, Romdhane L, Zeghloul S, Laribi MA (2022) Cable-driven parallel robot workspace identification and optimal design based on the upper limb functional rehabilitation. J Bionic Eng 19(2):390\u2013402","DOI":"10.1007\/s42235-022-00162-8"},{"issue":"1","key":"3402_CR32","doi-asserted-by":"publisher","first-page":"7","DOI":"10.3390\/robotics10010007","volume":"10","author":"F Ennaiem","year":"2020","unstructured":"Ennaiem F, Chaker A, Ar\u00e9valo JSS, Laribi MA, Bennour S, Mlika A, Romdhane L, Zeghloul S (2020) Sensitivity based selection of an optimal cable-driven parallel robot design for rehabilitation purposes. Robotics 10(1):7","journal-title":"Robotics"},{"issue":"6","key":"3402_CR33","doi-asserted-by":"publisher","first-page":"1562","DOI":"10.1093\/jcde\/qwab061","volume":"8","author":"S Hussain","year":"2021","unstructured":"Hussain S, Jamwal PK, Van Vliet P (2021) Design synthesis and optimization of a 4-SPS intrinsically compliant parallel wrist rehabilitation robotic orthosis. J Comput Design Eng 8(6):1562\u20131575","journal-title":"J Comput Design Eng"},{"key":"3402_CR34","doi-asserted-by":"publisher","first-page":"105159","DOI":"10.1016\/j.mechmachtheory.2022.105159","volume":"180","author":"A Martin-Parra","year":"2023","unstructured":"Martin-Parra A, Juarez-Perez S, Gonzalez-Rodriguez A, Gonzalez-Rodriguez AG, Lopez-Diaz AI, Rubio-Gomez G (2023) A novel design for fully constrained planar cable-driven parallel robots to increase their wrench-feasible workspace. Mech Mach Theory 180:105159","journal-title":"Mech Mach Theory"},{"issue":"5","key":"3402_CR35","doi-asserted-by":"publisher","first-page":"890","DOI":"10.1109\/TRO.2006.878967","volume":"22","author":"P Bosscher","year":"2006","unstructured":"Bosscher P, Riechel AT, Ebert-Uphoff I (2006) Wrench-feasible workspace generation for cable-driven robots. IEEE Trans Robot 22(5):890\u2013902","journal-title":"IEEE Trans Robot"},{"key":"3402_CR36","doi-asserted-by":"crossref","unstructured":"Ahn CW, Ramakrishna RS (2003) Elitism-based compact genetic algorithms. IEEE T Evolut Comput 7(4):367\u2013385","DOI":"10.1109\/TEVC.2003.814633"},{"key":"3402_CR37","doi-asserted-by":"crossref","unstructured":"Montanari M, Petrinic N (2018) Opengjk for c, c# and matlab: Reliable solutions to distance queries between convex bodies in three-dimensional space. SoftwareX 7:352\u2013355","DOI":"10.1016\/j.softx.2018.10.002"},{"issue":"2","key":"3402_CR38","first-page":"204","volume":"58","author":"C Zhiwei","year":"2018","unstructured":"Zhiwei C, Xiaoqiang T, Senhao H, Chengyuan X (2018) Characteristics of controllable stiffness for cable-driven parallel robots. J Tsinghua Univ (Sci Technol) 58(2):204\u2013211","journal-title":"J Tsinghua Univ (Sci Technol)"}],"container-title":["Medical & Biological Engineering & Computing"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11517-025-03402-1.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s11517-025-03402-1\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11517-025-03402-1.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,12,3]],"date-time":"2025-12-03T15:32:07Z","timestamp":1764775927000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s11517-025-03402-1"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,7,14]]},"references-count":38,"journal-issue":{"issue":"12","published-print":{"date-parts":[[2025,12]]}},"alternative-id":["3402"],"URL":"https:\/\/doi.org\/10.1007\/s11517-025-03402-1","relation":{},"ISSN":["0140-0118","1741-0444"],"issn-type":[{"value":"0140-0118","type":"print"},{"value":"1741-0444","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,7,14]]},"assertion":[{"value":"8 May 2024","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"20 June 2025","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"14 July 2025","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"The authors declare no competing interests.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Competing interests"}}]}}