{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,29]],"date-time":"2026-06-29T17:19:28Z","timestamp":1782753568633,"version":"3.54.5"},"reference-count":23,"publisher":"Cambridge University Press (CUP)","issue":"12","license":[{"start":{"date-parts":[[2025,11,27]],"date-time":"2025-11-27T00:00:00Z","timestamp":1764201600000},"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":[[2025,12]]},"abstract":"<jats:title>Abstract<\/jats:title>\n                  <jats:p>Lower limb-assisted exoskeletons can provide payloads and support, but the hip joints of current lower limb-assisted exoskeletons have problems such as single mechanisms, few degrees of freedom, and limitations in the types of gaits that can be acted upon. To address these problems, a novel double-cam hip joint assist mechanism is proposed for walking, running, and carrying gait situations. The double cam and two rectangular compression springs with different stiffness are used to satisfy the differences in exoskeleton assistance requirements in multiple gaits. First, biomechanical simulation of walking, running, and carrying movements is carried out with OpenSim to obtain the hip joint angle and torque data, and then the structural design of the assist mechanism is carried out. Hip joint angle planning and contour solving are carried out for the contour lines of the cams, so that the cam contour lines are assist according to different hip joint angles, and the stiffness of compression springs is determined by D\u2019Alembert\u2019s principle, and the assist torques are analyzed. Meanwhile, a human\u2013machine coupling model was established for theoretical analysis. Finally, the muscle power change curves were exported using OpenSim, and the assistance was verified by comparison.<\/jats:p>","DOI":"10.1017\/s0263574725102889","type":"journal-article","created":{"date-parts":[[2025,11,27]],"date-time":"2025-11-27T07:34:36Z","timestamp":1764228876000},"page":"4325-4343","source":"Crossref","is-referenced-by-count":1,"title":["Design and research of a multi-mode hip joint assistive mechanism based on a double cam"],"prefix":"10.1017","volume":"43","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-3015-7303","authenticated-orcid":false,"given":"Xuegong","family":"Huang","sequence":"first","affiliation":[{"id":[{"id":"https:\/\/ror.org\/00xp9wg62","id-type":"ROR","asserted-by":"publisher"}],"name":"Nanjing University of Science and Technology"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0001-2655-7953","authenticated-orcid":false,"given":"Zijun","family":"Guo","sequence":"additional","affiliation":[{"id":[{"id":"https:\/\/ror.org\/00xp9wg62","id-type":"ROR","asserted-by":"publisher"}],"name":"Nanjing University of Science and Technology"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0006-6008-5925","authenticated-orcid":false,"given":"Yutong","family":"Zhai","sequence":"additional","affiliation":[{"id":[{"id":"https:\/\/ror.org\/00xp9wg62","id-type":"ROR","asserted-by":"publisher"}],"name":"Nanjing University of Science and Technology"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"56","published-online":{"date-parts":[[2025,11,27]]},"reference":[{"key":"S0263574725102889_ref11","doi-asserted-by":"publisher","DOI":"10.1109\/TASE.2020.3027748"},{"key":"S0263574725102889_ref3","doi-asserted-by":"publisher","DOI":"10.1016\/j.jot.2019.09.006"},{"key":"S0263574725102889_ref19","unstructured":"[19] Yeung, H. , Major qualifying projects April 2019 Soft Ankle Exosuit for correction of foot drop, major qualifying project (MQP) report (Worcester polytechnic institute (WPI), 2019)."},{"key":"S0263574725102889_ref16","doi-asserted-by":"publisher","DOI":"10.1038\/s41551-022-00984-1"},{"key":"S0263574725102889_ref4","doi-asserted-by":"publisher","DOI":"10.1177\/0278364906065505"},{"key":"S0263574725102889_ref22","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2021.104700"},{"key":"S0263574725102889_ref9","doi-asserted-by":"crossref","unstructured":"[9] Toyama, S. and Yamamoto, G. , \u201cDevelopment of Wearable-Agri-Robot Mechanism for Agricultural Work,\u201d In: 2009 IEEE\/RSJ International Conference on Intelligent Robots and Systems, St. Louis, MO, USA (2009) pp. 5801\u20135806.","DOI":"10.1109\/IROS.2009.5354265"},{"key":"S0263574725102889_ref14","first-page":"1","article-title":"Reconfigurable exomuscle system employing parameter tuning to assist hip flexion or ankle plantarflexion","author":"Ma","year":"2025","journal-title":"IEEE\/ASME Trans. 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B. , Actuation design and implementation for lower extremity human exoskeletons (ProQuest, 2006)."},{"key":"S0263574725102889_ref18","volume-title":"Gait Analysis: Normal and Pathological Function","author":"Perry","year":"2010"},{"key":"S0263574725102889_ref21","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2016.05.018"},{"key":"S0263574725102889_ref5","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2005.02.002"},{"key":"S0263574725102889_ref2","doi-asserted-by":"crossref","unstructured":"[2] Zhang, Z. , Cao, W. , Chen, C. , Yu, H. , Wu, X. and Meng, Q. , \u201cDesign and Simulation of a Hip Exoskeleton for Lateral Walking,\u201d In: 2021 IEEE International Conference on Real-time Computing and Robotics (RCAR), Xining, China (2021) pp. 1311\u20131315.","DOI":"10.1109\/RCAR52367.2021.9517457"},{"key":"S0263574725102889_ref12","first-page":"55","article-title":"A simulation-based study on a clutch-spring mechanism reducing human walking metabolic cost","volume":"7","author":"Shen","year":"2018","journal-title":"Int. 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