{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,30]],"date-time":"2026-07-30T10:44:43Z","timestamp":1785408283086,"version":"3.56.0"},"reference-count":44,"publisher":"Cambridge University Press (CUP)","issue":"10","license":[{"start":{"date-parts":[[2025,10,7]],"date-time":"2025-10-07T00:00:00Z","timestamp":1759795200000},"content-version":"unspecified","delay-in-days":6,"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>Based on the characteristics of the variable pivot gait during the human load-carrying, this paper proposes a double-leg coordination assistance principle for load-carrying: assisting support of the guiding leg at the heel-pivot stage by the spring to reduce the collision, which can reduce the ankle moment of the following leg that is performing the push-off at the toe-pivot stage. A novel unpowered load-carrying exoskeleton (ULE) with a double-support closed-chain configuration is designed, and the theoretical verification is carried out. Five subjects participate in the load-carrying and metabolic cost experiments for assisting and energy-saving effect evaluation, and the angle and moment of human joints, plantar pressure, spring compression and human net metabolic rate are analyzed. Compared with carrying load by the human alone, wearing the novel ULE with spring reduces the human peak ankle moment performing the push-off by up to 11.9 \u00b1 1.6% (Mean\u00b1SE, 10 kg), average ankle moment over the support phase by up to 36.8 \u00b1 9.1% (Mean\u00b1SE, 5 kg) and the average vertical plantar pressure by up to 8.1 \u00b1 1%% (Mean\u00b1SE, 15 kg). Meanwhile, wearing the novel ULE reduces the human net metabolic rate by 5.6 \u00b1 0.5% (Mean\u00b1SE, 10 kg), 4.1 \u00b1 0.7% (Mean\u00b1SE, 15 kg) and 5.9 \u00b1 1.6% (Mean\u00b1SE, 20 kg). The results show that the novel ULE can provide support and joint moment assistance over the whole support phase while reducing human net metabolic rate. This study can also be applied to the powered load-carrying exoskeleton, providing a new avenue.<\/jats:p>","DOI":"10.1017\/s026357472510249x","type":"journal-article","created":{"date-parts":[[2025,10,7]],"date-time":"2025-10-07T08:50:27Z","timestamp":1759827027000},"page":"3657-3681","source":"Crossref","is-referenced-by-count":0,"title":["Configuration design and assisting effect evaluation of a novel double-support closed-chain unpowered load-carrying exoskeleton based on variable pivot gait"],"prefix":"10.1017","volume":"43","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-7205-8653","authenticated-orcid":false,"given":"Cunjin","family":"Ai","sequence":"first","affiliation":[{"id":[{"id":"https:\/\/ror.org\/018hded08","id-type":"ROR","asserted-by":"publisher"}],"name":"Hebei University of Technology"},{"name":"Chongqing University of Arts and Sciences"},{"name":"Intelligent Rehabilitation Device and Detection Technology Engineering Research Center of the Ministry of Education"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jianjun","family":"Zhang","sequence":"additional","affiliation":[{"id":[{"id":"https:\/\/ror.org\/018hded08","id-type":"ROR","asserted-by":"publisher"}],"name":"Hebei University of Technology"},{"name":"Intelligent Rehabilitation Device and Detection Technology Engineering Research Center of the Ministry of Education"},{"name":"Hebei Provincial Key Laboratory of Robot Perception and Human\u2013Machine Fusion"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0638-8897","authenticated-orcid":false,"given":"Jun","family":"Wei","sequence":"additional","affiliation":[{"id":[{"id":"https:\/\/ror.org\/018hded08","id-type":"ROR","asserted-by":"publisher"}],"name":"Hebei University of Technology"},{"name":"Intelligent Rehabilitation Device and Detection Technology Engineering Research Center of the Ministry of Education"},{"name":"Hebei Provincial Key Laboratory of Robot Perception and Human\u2013Machine Fusion"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8974-0942","authenticated-orcid":false,"given":"Jingke","family":"Song","sequence":"additional","affiliation":[{"id":[{"id":"https:\/\/ror.org\/018hded08","id-type":"ROR","asserted-by":"publisher"}],"name":"Hebei University of Technology"},{"name":"Intelligent Rehabilitation Device and Detection Technology Engineering Research Center of the Ministry of Education"},{"name":"Hebei Provincial Key Laboratory of Robot Perception and Human\u2013Machine Fusion"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Chenglei","family":"Liu","sequence":"additional","affiliation":[{"id":[{"id":"https:\/\/ror.org\/018hded08","id-type":"ROR","asserted-by":"publisher"}],"name":"Hebei University of Technology"},{"name":"Intelligent Rehabilitation Device and Detection Technology Engineering Research Center of the Ministry of Education"},{"name":"Hebei Provincial Key Laboratory of Robot Perception and Human\u2013Machine Fusion"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Anyu","family":"Shi","sequence":"additional","affiliation":[{"id":[{"id":"https:\/\/ror.org\/018hded08","id-type":"ROR","asserted-by":"publisher"}],"name":"Hebei University of Technology"},{"name":"Intelligent Rehabilitation Device and Detection Technology Engineering Research Center of the Ministry of Education"},{"name":"Hebei Provincial Key Laboratory of Robot Perception and Human\u2013Machine Fusion"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"56","published-online":{"date-parts":[[2025,10,7]]},"reference":[{"key":"S026357472510249X_ref36","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.115451"},{"key":"S026357472510249X_ref29","doi-asserted-by":"publisher","DOI":"10.2106\/00004623-194830040-00006"},{"key":"S026357472510249X_ref19","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843607001126"},{"key":"S026357472510249X_ref2","doi-asserted-by":"publisher","DOI":"10.1016\/j.jbiomech.2011.02.016"},{"key":"S026357472510249X_ref9","first-page":"1","article-title":"Unidirectional variable stiffness hydraulic actuator for load-carrying knee exoskeleton","volume":"14","author":"Zhu","year":"2017","journal-title":"Int. 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