{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,8]],"date-time":"2026-06-08T09:50:43Z","timestamp":1780912243853,"version":"3.54.1"},"reference-count":42,"publisher":"MDPI AG","issue":"3","license":[{"start":{"date-parts":[[2019,1,28]],"date-time":"2019-01-28T00:00:00Z","timestamp":1548633600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"National Key R&amp;D Program of China","award":["2017YFB1302200"],"award-info":[{"award-number":["2017YFB1302200"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>The muscles of the lower limbs directly influence leg motion, therefore, lower limb muscle exercise is important for persons living with lower limb disabilities. This paper presents a medical assistive robot with leg exoskeletons for locomotion and leg muscle exercises. It also presents a novel pedal-cycling actuation method with a crank-rocker mechanism. The mechanism is driven by a single motor with a mechanical structure that ensures user safety. A control system is designed based on a master-slave control with sensor fusion method. Here, the intended motion of the user is detected by pedal-based force sensors and is then used in combination with joystick movements as control signals for leg-exoskeleton and wheelchair motions. Experimental data is presented and then analyzed to determine robotic motion characteristics as well as the assistance efficiency with attached electromyogram (EMG) sensors. A typical muscle EMG signal analysis shows that the exercise efficiency for EMG activated amplitudes of the gluteus medius muscles approximates a walking at speed of 3 m\/s when cycling at different speeds (i.e., from 16 to 80 r\/min) in a wheelchair. As such, the present wheelchair robot is a good candidate for enabling effective gluteus medius muscle exercises for persons living with gluteus medius muscle disabilities.<\/jats:p>","DOI":"10.3390\/s19030548","type":"journal-article","created":{"date-parts":[[2019,1,29]],"date-time":"2019-01-29T11:27:52Z","timestamp":1548761272000},"page":"548","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":14,"title":["Design and Feasibility Study of a Leg-exoskeleton Assistive Wheelchair Robot with Tests on Gluteus Medius Muscles"],"prefix":"10.3390","volume":"19","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-1584-7744","authenticated-orcid":false,"given":"Gao","family":"Huang","sequence":"first","affiliation":[{"name":"Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, 100081, China"},{"name":"Intelligent Robot Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, 100081, China"},{"name":"Key Laboratory of Biomimetic Robots and Systems, Beijing Institute of Technology, Ministry of Education, Beijing, 100081, China"},{"name":"LARM: Laboratory of Robotics and Mechatronics, University of Cassino and South Latium, Cassino, 03043, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9388-4391","authenticated-orcid":false,"given":"Marco","family":"Ceccarelli","sequence":"additional","affiliation":[{"name":"Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, 100081, China"},{"name":"Key Laboratory of Biomimetic Robots and Systems, Beijing Institute of Technology, Ministry of Education, Beijing, 100081, China"},{"name":"LARM: Laboratory of Robotics and Mechatronics, University of Cassino and South Latium, Cassino, 03043, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Qiang","family":"Huang","sequence":"additional","affiliation":[{"name":"Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, 100081, China"},{"name":"Intelligent Robot Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, 100081, China"},{"name":"Key Laboratory of Biomimetic Robots and Systems, Beijing Institute of Technology, Ministry of Education, Beijing, 100081, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Weimin","family":"Zhang","sequence":"additional","affiliation":[{"name":"Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, 100081, China"},{"name":"Intelligent Robot Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, 100081, China"},{"name":"Key Laboratory of Biomimetic Robots and Systems, Beijing Institute of Technology, Ministry of Education, Beijing, 100081, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zhangguo","family":"Yu","sequence":"additional","affiliation":[{"name":"Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, 100081, China"},{"name":"Intelligent Robot Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, 100081, China"},{"name":"Key Laboratory of Biomimetic Robots and Systems, Beijing Institute of Technology, Ministry of Education, Beijing, 100081, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xuechao","family":"Chen","sequence":"additional","affiliation":[{"name":"Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, 100081, China"},{"name":"Intelligent Robot Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, 100081, China"},{"name":"Key Laboratory of Biomimetic Robots and Systems, Beijing Institute of Technology, Ministry of Education, Beijing, 100081, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jingeng","family":"Mai","sequence":"additional","affiliation":[{"name":"The Robotics Research Group, College of Engineering, Peking University, Beijing, 100871, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2019,1,28]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"3549","DOI":"10.1589\/jpts.27.3549","article-title":"The effects of aquatic trunk exercise on gait and muscle activity in stroke patients: A randomized controlled pilot study","volume":"27","author":"Park","year":"2015","journal-title":"J. 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