{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,10]],"date-time":"2026-06-10T22:12:56Z","timestamp":1781129576374,"version":"3.54.1"},"reference-count":34,"publisher":"MDPI AG","issue":"7","license":[{"start":{"date-parts":[[2024,4,5]],"date-time":"2024-04-05T00:00:00Z","timestamp":1712275200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"National Key Science and Technology Project Undertaken by Shenzhen","award":["CJGJZD20220517142405013"],"award-info":[{"award-number":["CJGJZD20220517142405013"]}]},{"name":"National Key Science and Technology Project Undertaken by Shenzhen","award":["SQ2024162"],"award-info":[{"award-number":["SQ2024162"]}]},{"name":"National Key Science and Technology Project Undertaken by Shenzhen","award":["2023H014"],"award-info":[{"award-number":["2023H014"]}]},{"name":"Hebei Province Higher Education Humanities and Social Sciences Research Project","award":["CJGJZD20220517142405013"],"award-info":[{"award-number":["CJGJZD20220517142405013"]}]},{"name":"Hebei Province Higher Education Humanities and Social Sciences Research Project","award":["SQ2024162"],"award-info":[{"award-number":["SQ2024162"]}]},{"name":"Hebei Province Higher Education Humanities and Social Sciences Research Project","award":["2023H014"],"award-info":[{"award-number":["2023H014"]}]},{"name":"Ningbo International Cooperation Project","award":["CJGJZD20220517142405013"],"award-info":[{"award-number":["CJGJZD20220517142405013"]}]},{"name":"Ningbo International Cooperation Project","award":["SQ2024162"],"award-info":[{"award-number":["SQ2024162"]}]},{"name":"Ningbo International Cooperation Project","award":["2023H014"],"award-info":[{"award-number":["2023H014"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Most lower limb rehabilitation robots are limited to specific training postures to adapt to stroke patients in multiple stages of recovery. In addition, there is a lack of attention to the switching functions of the training side, including left, right, and bilateral, which enables patients with hemiplegia to rehabilitate with a single device. This article presents an exoskeleton robot named the multistage hemiplegic lower-limb rehabilitation robot, which has been designed to do rehabilitation in multiple training postures and training sides. The mechanism consisting of the thigh, calf, and foot is introduced. Additionally, the design of the multi-mode limit of the hip, knee, and ankle joints supports delivering therapy in any posture and training sides to aid patients with hemiplegia in all stages of recovery. The gait trajectory is planned by extracting the gait motion trajectory model collected by the motion capture device. In addition, a control system for the training module based on adaptive iterative learning has been simulated, and its high-precision tracking performance has been verified. The gait trajectory experiment is carried out, and the results verify that the trajectory tracking performance of the robot has good performance.<\/jats:p>","DOI":"10.3390\/s24072310","type":"journal-article","created":{"date-parts":[[2024,4,5]],"date-time":"2024-04-05T08:27:52Z","timestamp":1712305672000},"page":"2310","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":16,"title":["A Multistage Hemiplegic Lower-Limb Rehabilitation Robot: Design and Gait Trajectory Planning"],"prefix":"10.3390","volume":"24","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-8752-3669","authenticated-orcid":false,"given":"Xincheng","family":"Wang","sequence":"first","affiliation":[{"name":"Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao 066004, China"},{"name":"School of Mechanical Engineering, Yanshan University, Qinhuangdao 066004, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Hongbo","family":"Wang","sequence":"additional","affiliation":[{"name":"Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao 066004, China"},{"name":"School of Mechanical Engineering, Yanshan University, Qinhuangdao 066004, China"},{"name":"Academy for Engineering & Technology, Fudan University, Shanghai 200433, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Bo","family":"Zhang","sequence":"additional","affiliation":[{"name":"Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao 066004, China"},{"name":"School of Mechanical Engineering, Yanshan University, Qinhuangdao 066004, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Desheng","family":"Zheng","sequence":"additional","affiliation":[{"name":"Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao 066004, China"},{"name":"School of Mechanical Engineering, Yanshan University, Qinhuangdao 066004, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Hongfei","family":"Yu","sequence":"additional","affiliation":[{"name":"School of Arts and Design, Yanshan University, Qinhuangdao 066004, China"},{"name":"Hebei Technology Innovation Center for Intelligent Industrial Design, Qinhuangdao 066004, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Bo","family":"Cheng","sequence":"additional","affiliation":[{"name":"Qinhuangdao Hospital of Traditional Chinese Medicine, Qinhuangdao 066099, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8040-8396","authenticated-orcid":false,"given":"Jianye","family":"Niu","sequence":"additional","affiliation":[{"name":"Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao 066004, China"},{"name":"School of Mechanical Engineering, Yanshan University, Qinhuangdao 066004, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2024,4,5]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"249","DOI":"10.1177\/17474930221080904","article-title":"Reducing disability after stroke","volume":"17","author":"Markus","year":"2022","journal-title":"Int. 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