{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,9,15]],"date-time":"2026-09-15T18:31:29Z","timestamp":1789497089937,"version":"build-2803163510"},"reference-count":22,"publisher":"Frontiers Media SA","license":[{"start":{"date-parts":[[2025,10,1]],"date-time":"2025-10-01T00:00:00Z","timestamp":1759276800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":["frontiersin.org"],"crossmark-restriction":true},"short-container-title":["Front. Bioeng. Biotechnol."],"abstract":"<jats:sec>\n                    <jats:title>Introduction<\/jats:title>\n                    <jats:p>Superman Exercise is highly recommended by healthcare professionals for patients with low back pain. However, performing this treatment can be challenging due to patients\u2019 difficulty in maintaining the training maneuvers and the lack of standardization in these maneuvers.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Methods and procedures<\/jats:title>\n                    <jats:p>A low back rehabilitation robot, designed based on swallow movement rehabilitation training, was fully modeled for patients with low back motor dysfunction. The robot underwent kinematic analysis, including forward and inverse solutions, as well as kinetic analysis to verify its accuracy. By studying human waist mobility and muscle force, a human-machine coupling model was developed to determine the range of human waist joint angles and muscle force size. This was achieved by importing three-dimensional motion capture data into the OpenSim human motion analysis environment and comparing it with the human body\u2019s natural lumbar rehabilitation movements. Additionally, comparisons were made with the human body during lumbar rehabilitation training maneuvers.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Conclusion<\/jats:title>\n                    <jats:p>The rehabilitation robot is well-designed to meet patients\u2019 rehabilitation training needs and uncover the rehabilitation patterns of the human waist. This study serves as a reference for future parameter optimization and control system design.<\/jats:p>\n                  <\/jats:sec>","DOI":"10.3389\/fbioe.2025.1678755","type":"journal-article","created":{"date-parts":[[2025,10,1]],"date-time":"2025-10-01T05:51:33Z","timestamp":1759297893000},"update-policy":"https:\/\/doi.org\/10.3389\/crossmark-policy","source":"Crossref","is-referenced-by-count":4,"title":["Mechanism design and human-machine coupling analysis for a lumbar rehabilitation robot"],"prefix":"10.3389","volume":"13","author":[{"given":"Yuan","family":"Tian","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Fengping","family":"Chen","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zixu","family":"Zhao","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Dawei","family":"Jiang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Wenjing","family":"Ji","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jiasheng","family":"Dai","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1965","published-online":{"date-parts":[[2025,10,1]]},"reference":[{"key":"B1","doi-asserted-by":"publisher","first-page":"e257247","DOI":"10.1590\/s1808-185120222103257247","article-title":"Activation of lumbar spine stabilizer muscles in people with chronic low back pain: a systematic review","volume":"21","author":"Araujo","year":"2022","journal-title":"Coluna\/Columna"},{"key":"B2","doi-asserted-by":"publisher","first-page":"1273","DOI":"10.1016\/j.mechmachtheory.2004.05.016","article-title":"Kinematics of wheeled Mobile robots on uneven terrain","volume":"39","author":"Chakraborty","year":"2004","journal-title":"Mech. Mach. theory"},{"key":"B3","doi-asserted-by":"publisher","first-page":"19","DOI":"10.1007\/s10237-011-0290-6","article-title":"A musculoskeletal model for the lumbar spine","volume":"11","author":"Christophy","year":"2012","journal-title":"Biomechanics Model. Mechanobiol."},{"key":"B4","doi-asserted-by":"publisher","first-page":"763","DOI":"10.1115\/1.1775805","article-title":"Robots and screw theory: applications of kinematics and statics to robotics","volume":"126","author":"Davidson","year":"2004","journal-title":"J. Mech. Des."},{"key":"B5","doi-asserted-by":"publisher","first-page":"103495","DOI":"10.1016\/j.robot.2020.103495","article-title":"Human-in-the-loop optimization of wearable robots to reduce the human metabolic energy cost in physical movements","volume":"127","author":"Fang","year":"2020","journal-title":"Robotics Aut. Syst."},{"key":"B6","doi-asserted-by":"publisher","first-page":"149","DOI":"10.1007\/s00586-002-0508-5","article-title":"Low back pain: what is the long-term course? A review of studies of general patient populations","volume":"12","author":"Hestbaek","year":"2003","journal-title":"Eur. Spine J."},{"key":"B7","doi-asserted-by":"publisher","first-page":"2028","DOI":"10.1002\/art.34347","article-title":"A systematic review of the global prevalence of low back pain","volume":"64","author":"Hoy","year":"2012","journal-title":"Arthritis Rheumatism"},{"key":"B8","doi-asserted-by":"publisher","first-page":"159","DOI":"10.1016\/S0952-1976(99)00050-0","article-title":"An improved approach to the solution of inverse kinematics problems for robot manipulators","volume":"13","author":"Karlik","year":"2000","journal-title":"Eng. Appl. Artif. Intell."},{"key":"B9","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1109\/JTEHM.2021.3135974","article-title":"Advanced compliant anti-gravity robot System for lumbar stabilization exercise using series elastic actuator","volume":"10","author":"Kim","year":"2022","journal-title":"IEEE J. Transl. Eng. HEALTH Med."},{"key":"B10","doi-asserted-by":"publisher","first-page":"715","DOI":"10.1007\/s11370-024-00531-8","article-title":"Selective load control of lumbar muscles in robot-assisted isometric lumbar stabilization exercise","volume":"17","author":"Kim","year":"2024","journal-title":"Intell. Serv. Robot."},{"key":"B11","doi-asserted-by":"publisher","first-page":"941","DOI":"10.1002\/(sici)1097-0207(19981115)43:5<941::aid-nme435>3.0.co;2-3","article-title":"Modelling of muscle behaviour by the finite element method using hill\u2019s three-element model","volume":"43","author":"Kojic","year":"1998","journal-title":"Int. J. Numer. methods Eng."},{"key":"B12","doi-asserted-by":"publisher","first-page":"104903","DOI":"10.1016\/j.mechmachtheory.2022.104903","article-title":"An inverse kinematics method for robots after geometric parameters compensation","volume":"174","author":"Li","year":"2022","journal-title":"Mech. Mach. Theory"},{"key":"B13","doi-asserted-by":"publisher","first-page":"2111","DOI":"10.1109\/TNSRE.2023.3268657","article-title":"Development and evaluation of a lumbar assisted exoskeleton with mixed lifting tasks by various postures","volume":"31","author":"Li","year":"2023","journal-title":"IEEE Trans. NEURAL Syst. REHABILITATION Eng."},{"key":"B14","doi-asserted-by":"publisher","first-page":"257","DOI":"10.1017\/S0263574704000931","article-title":"Hana: a novel spatial parallel manipulator with one rotational and two translational degrees of freedom","volume":"23","author":"Liu","year":"2005","journal-title":"Robotica"},{"key":"B15","doi-asserted-by":"publisher","first-page":"110","DOI":"10.5535\/arm.2013.37.1.110","article-title":"Effect of lumbar stabilization and dynamic lumbar strengthening exercises in patients with chronic low back pain","volume":"37","author":"Moon","year":"2013","journal-title":"Ann. Rehabilitation Med."},{"key":"B16","doi-asserted-by":"publisher","first-page":"111727","DOI":"10.1016\/j.jbiomech.2023.111727","article-title":"Real-time lumbosacral joint loading estimation in exoskeleton-assisted lifting conditions via electromyography-driven musculoskeletal models","volume":"157","author":"Moya-Esteban","year":"2023","journal-title":"J. BIOMECHANICS"},{"key":"B17","article-title":"Robot manipulators: mathematics, programming, and control: the computer control of robot manipulators (Richard Paul)","author":"Paul","year":"1981"},{"key":"B18","first-page":"1398","article-title":"Kinematic control equations for simple manipulators","volume-title":"1978 IEEE conference on decision and control including the 17th symposium on adaptive processes","author":"Paul","year":"1979"},{"key":"B19","doi-asserted-by":"publisher","first-page":"67","DOI":"10.5281\/zenodo.1041602","article-title":"The stabilizing system of the spine","volume":"7","author":"Radziminska","year":"2017","journal-title":"J. Educ. Health Sport"},{"key":"B20","author":"Studnicka","year":"2023"},{"key":"B21","doi-asserted-by":"publisher","first-page":"1103","DOI":"10.1097\/00007632-198911000-00020","article-title":"Three-dimensional movements of the whole lumbar spine","volume":"22","author":"Yamamoto","year":"1989","journal-title":"J. Biomechanics"},{"key":"B22","doi-asserted-by":"crossref","first-page":"723","DOI":"10.1109\/IMCEC46724.2019.8983811","article-title":"Mechanism design and kinematic analysis of a waist and lower limbs cable-driven parallel rehabilitation robot","volume-title":"2019 IEEE 3rd advanced information management, communicates, electronic and automation control Conference (IMCEC)","author":"Yang","year":"2019"}],"container-title":["Frontiers in Bioengineering and Biotechnology"],"original-title":[],"link":[{"URL":"https:\/\/www.frontiersin.org\/articles\/10.3389\/fbioe.2025.1678755\/full","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,1]],"date-time":"2025-10-01T05:51:35Z","timestamp":1759297895000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.frontiersin.org\/articles\/10.3389\/fbioe.2025.1678755\/full"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,10,1]]},"references-count":22,"alternative-id":["10.3389\/fbioe.2025.1678755"],"URL":"https:\/\/doi.org\/10.3389\/fbioe.2025.1678755","relation":{},"ISSN":["2296-4185"],"issn-type":[{"value":"2296-4185","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,10,1]]},"article-number":"1678755"}}