{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,10]],"date-time":"2026-05-10T06:44:53Z","timestamp":1778395493642,"version":"3.51.4"},"reference-count":39,"publisher":"SAGE Publications","issue":"8","license":[{"start":{"date-parts":[[2022,1,25]],"date-time":"2022-01-25T00:00:00Z","timestamp":1643068800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"funder":[{"DOI":"10.13039\/501100006450","name":"h\u00f6gskolan i g\u00e4vle","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100006450","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Mechanical Engineering Department, TIET, Patiala, India"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["SIMULATION"],"published-print":{"date-parts":[[2022,8]]},"abstract":"<jats:p>People with knee disorders often find it difficult to perform common mobility tasks, such as stand\u2013sit\u2013stand motions. High knee torque is required to complete such transitions, as the chances of toppling increase during these motions. Most of the existing conventional approaches, such as wheelchairs and crutches, have failed to provide complete independence to the users. Conversely, contemporary systems like lower body exoskeletons which are bulky, complex, and expensive do not specifically target the knee joint instead of assisting other joints. Hence, there is a need to aid the knee joint using a robotic knee exoskeleton capable of accurately providing the desired knee torque. In the present work, to assist the user in performing the stand\u2013sit\u2013stand motions, an electromyography sensor-based four-bar knee exoskeleton actuated by a linear actuator is proposed. The modeling of the complete exoskeleton is developed using bond graph technique, as the components exist in different energy domains and it is possible to frame a dynamic bond graph model using only kinematic equations. The prototype is fabricated, and experiments are carried out on an artificial limb to prove the efficacy of the design of the current knee exoskeleton. The assistive torque developed by the actuator at the knee joint of the exoskeleton is found to be suitable to assist the wearer. As a result, little effort is required by the wearer for performing the stand\u2013sit\u2013stand motions. The rotation of the thigh link of the developed exoskeleton was found to be suitable for performing the stand\u2013sit\u2013stand activity.<\/jats:p>","DOI":"10.1177\/00375497211073583","type":"journal-article","created":{"date-parts":[[2022,1,25]],"date-time":"2022-01-25T07:38:28Z","timestamp":1643096308000},"page":"627-644","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":14,"title":["Linear actuator\u2013based knee exoskeleton for stand\u2013sit\u2013stand motions: a bond graph approach"],"prefix":"10.1177","volume":"98","author":[{"given":"Prakhar","family":"Jain","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering, Thapar Institute of Engineering &amp; Technology (TIET) (Deemed University), India"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2201-3609","authenticated-orcid":false,"given":"Tarun Kumar","family":"Bera","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Thapar Institute of Engineering &amp; Technology (TIET) (Deemed University), India"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8609-8923","authenticated-orcid":false,"given":"Ashish","family":"Singla","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Thapar Institute of Engineering &amp; Technology (TIET) (Deemed University), India"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Magnus","family":"Isaksson","sequence":"additional","affiliation":[{"name":"Faculty of Health and Occupational Studies, University of G\u00e4vle, Sweden"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2022,1,25]]},"reference":[{"key":"e_1_3_4_2_2","doi-asserted-by":"publisher","DOI":"10.1177\/1729881417743554."},{"key":"e_1_3_4_3_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2019.01.016"},{"key":"e_1_3_4_4_2","doi-asserted-by":"publisher","DOI":"10.1177\/1729881420963742."},{"key":"e_1_3_4_5_2","doi-asserted-by":"publisher","DOI":"10.1163\/016918611X558225"},{"key":"e_1_3_4_6_2","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2010.2100046"},{"key":"e_1_3_4_7_2","first-page":"1386","volume-title":"Proceedings of the 2011 IEEE international conference on robotics and automation (ICRA)","volume":"19","author":"Wang D","unstructured":"Wang D, Guo J, Lee K-M, et al. An adaptive knee joint exoskeleton based on biological geometries. In: Proceedings of the 2011 IEEE international conference on robotics and automation (ICRA), Shanghai, China, 9\u201313 May 2011, vol. 19, pp. 1386\u20131391. New York: IEEE."},{"key":"e_1_3_4_8_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2013.09.007"},{"key":"e_1_3_4_9_2","first-page":"125","volume-title":"Proceedings of the 2015 IEEE international conference on industrial technology (ICIT)","author":"Liao Y","unstructured":"Liao Y, Zhou Z, Wang Q. BioKEX: a bionic knee exoskeleton with proxy-based sliding mode control. In: Proceedings of the 2015 IEEE international conference on industrial technology (ICIT), Seville, 17\u201319 March 2015, pp. 125\u2013130. New York: IEEE."},{"key":"e_1_3_4_10_2","first-page":"4917","volume-title":"Proceedings of the 2011 IEEE\/RSJ international conference on intelligent robots and systems","author":"Ergin MA","unstructured":"Ergin MA, Patoglu V. A self-adjusting knee exoskeleton for robot-assisted treatment of knee injuries. In: Proceedings of the 2011 IEEE\/RSJ international conference on intelligent robots and systems, San Francisco, CA, 25\u201330 September 2011, pp. 4917\u20134922. New York: IEEE."},{"key":"e_1_3_4_11_2","first-page":"1646","volume-title":"Proceedings of the 2017 international conference on rehabilitation robotics (ICORR)","author":"Witte KA","unstructured":"Witte KA, Fatschel AM, Collins SH. Design of a lightweight, tethered, torque-controlled knee exoskeleton. In: Proceedings of the 2017 international conference on rehabilitation robotics (ICORR), London, 17\u201320 July 2017, pp. 1646\u20131653. New York: IEEE."},{"key":"e_1_3_4_12_2","first-page":"2430","volume-title":"Proceedings of the 2004 IEEE international conference on robotics and automation (ICRA\u201904)","volume":"3","author":"Pratt JE","unstructured":"Pratt JE, Krupp BT, Morse CJ, et al. The RoboKnee: an exoskeleton for enhancing strength and endurance during walking. In: Proceedings of the 2004 IEEE international conference on robotics and automation (ICRA\u201904), New Orleans, LA, 26 April\u20131 May 2004, vol. 3, pp. 2430\u20132435. New York: IEEE."},{"key":"e_1_3_4_13_2","first-page":"638","volume-title":"Proceedings of the 2012 12th IEEE-RAS international conference on humanoid robots","author":"Maeda D","unstructured":"Maeda D, Tominaga K, Oku T, et al. Muscle synergy analysis of human adaptation to a variable-stiffness exoskeleton: human walk with a knee exoskeleton with pneumatic artificial muscles. In: Proceedings of the 2012 12th IEEE-RAS international conference on humanoid robots, Osaka, Japan, 29 November\u20131 December 2012, pp. 638\u2013644. 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