{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,8]],"date-time":"2026-04-08T00:07:24Z","timestamp":1775606844118,"version":"3.50.1"},"reference-count":47,"publisher":"Cambridge University Press (CUP)","issue":"10","license":[{"start":{"date-parts":[[2025,9,25]],"date-time":"2025-09-25T00:00:00Z","timestamp":1758758400000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2025,10]]},"abstract":"<jats:title>Abstract<\/jats:title>\n                  <jats:p>\n                    Biomechanical intervention on lower limb joints using exoskeletons to reduce joint loads and provide walking assistance has become a research hotspot in the fields of rehabilitation and elderly care. To address the challenges of human-exoskeleton (H-E) kinematic compatibility and knee joint unloading demands, this study proposes a novel rhombus linkage exoskeleton mechanism capable of adaptive knee motion without requiring precise alignment with the human knee axis. The exoskeleton is driven by a Bowden cable system to provide thigh support, thereby achieving effective knee joint unloading. Based on the screw theory, the degrees of freedom (DOF) of the exoskeleton mechanism (DOF = 3) and the H-E closed-loop mechanism (DOF = 1) were analyzed, and the kinematic model of the exoskeleton and the H-E closed-loop kinematic model were established, respectively. A mechanical model of the driving system was developed, and a simulation was conducted to validate the accuracy of the model. The output characteristics of the cable-driven system were investigated under varying bending angles and bending times. A prototype was fabricated and tested in wearable scenarios. The experimental results demonstrate that the exoskeleton system exhibits excellent biocompatibility and weight-bearing support capability. Compatibility tests confirm that the exoskeleton does not interfere with human motion. Through human-in-the-loop optimization, the optimal Bowden cable output force profile was obtained, which minimizes gait impact while achieving a peak support force of 195.8\n                    <jats:italic>N<\/jats:italic>\n                    . Further validation from wear trials with five subjects confirms the system\u2019s low interference with natural human motion (maximum lower-limb joint angle deviation of only\n                    <jats:inline-formula>\n                      <jats:alternatives>\n                        <jats:inline-graphic xmlns:xlink=\"http:\/\/www.w3.org\/1999\/xlink\" mime-subtype=\"png\" xlink:href=\"S0263574725102142_inline1.png\"\/>\n                        <jats:tex-math>$8^\\circ$<\/jats:tex-math>\n                      <\/jats:alternatives>\n                    <\/jats:inline-formula>\n                    ).\n                  <\/jats:p>","DOI":"10.1017\/s0263574725102142","type":"journal-article","created":{"date-parts":[[2025,9,25]],"date-time":"2025-09-25T09:08:47Z","timestamp":1758791327000},"page":"3461-3487","source":"Crossref","is-referenced-by-count":2,"title":["Design and analysis of an adaptive cable-driven knee unloading exoskeleton based on a rhombus linkage mechanism"],"prefix":"10.1017","volume":"43","author":[{"ORCID":"https:\/\/orcid.org\/0009-0004-4271-9897","authenticated-orcid":false,"given":"Yu","family":"Guo","sequence":"first","affiliation":[{"name":"Yanshan University"},{"name":"Yanshan University"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xiao","family":"Yang","sequence":"additional","affiliation":[{"name":"Yanshan University"},{"name":"Yanshan University"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ziming","family":"Chen","sequence":"additional","affiliation":[{"name":"Yanshan University"},{"name":"Yanshan University"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xiangyu","family":"Yan","sequence":"additional","affiliation":[{"name":"Yanshan University"},{"name":"Yanshan University"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Fei","family":"Liu","sequence":"additional","affiliation":[{"name":"First Hospital of Qinhuangdao"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2025,9,25]]},"reference":[{"key":"S0263574725102142_ref14","doi-asserted-by":"publisher","DOI":"10.3390\/app132111766"},{"key":"S0263574725102142_ref4","doi-asserted-by":"publisher","DOI":"10.1115\/1.4044818"},{"key":"S0263574725102142_ref19","doi-asserted-by":"publisher","DOI":"10.1115\/1.4066900"},{"key":"S0263574725102142_ref8","doi-asserted-by":"publisher","DOI":"10.3390\/act10070166"},{"key":"S0263574725102142_ref20","doi-asserted-by":"publisher","DOI":"10.1109\/TCDS.2023.3241632"},{"key":"S0263574725102142_ref30","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2024.3438041"},{"key":"S0263574725102142_ref31","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.2024.3461880"},{"key":"S0263574725102142_ref37","doi-asserted-by":"publisher","DOI":"10.1126\/sciadv.adq0288"},{"key":"S0263574725102142_ref44","doi-asserted-by":"publisher","DOI":"10.1038\/s41598-023-29887-0"},{"key":"S0263574725102142_ref46","volume-title":"Human Walking","author":"Rose","year":"2006"},{"key":"S0263574725102142_ref9","doi-asserted-by":"crossref","unstructured":"[9] Koo, I. , Yun, C. , Costa, M. 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