{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,9,30]],"date-time":"2026-09-30T18:00:27Z","timestamp":1790791227197,"version":"4.1.0"},"reference-count":40,"publisher":"MDPI AG","issue":"3","license":[{"start":{"date-parts":[[2024,2,21]],"date-time":"2024-02-21T00:00:00Z","timestamp":1708473600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Key R&amp;D program of Shandong Province, China","award":["2021CXGC011304"],"award-info":[{"award-number":["2021CXGC011304"]}]},{"name":"Key R&amp;D program of Shandong Province, China","award":["2023CXGC010701"],"award-info":[{"award-number":["2023CXGC010701"]}]},{"name":"Key R&amp;D program of Shandong Province, China","award":["2022YFC3601704"],"award-info":[{"award-number":["2022YFC3601704"]}]},{"name":"Key R&amp;D program of Shandong Province, China","award":["2022YFB4703500"],"award-info":[{"award-number":["2022YFB4703500"]}]},{"name":"Key R&amp;D program of Shandong Province, China","award":["62273325"],"award-info":[{"award-number":["62273325"]}]},{"name":"National Key R&amp;D Program of China","award":["2021CXGC011304"],"award-info":[{"award-number":["2021CXGC011304"]}]},{"name":"National Key R&amp;D Program of China","award":["2023CXGC010701"],"award-info":[{"award-number":["2023CXGC010701"]}]},{"name":"National Key R&amp;D Program of China","award":["2022YFC3601704"],"award-info":[{"award-number":["2022YFC3601704"]}]},{"name":"National Key R&amp;D Program of China","award":["2022YFB4703500"],"award-info":[{"award-number":["2022YFB4703500"]}]},{"name":"National Key R&amp;D Program of China","award":["62273325"],"award-info":[{"award-number":["62273325"]}]},{"name":"Quancheng 5150 Talent Introduction Plan","award":["2021CXGC011304"],"award-info":[{"award-number":["2021CXGC011304"]}]},{"name":"Quancheng 5150 Talent Introduction Plan","award":["2023CXGC010701"],"award-info":[{"award-number":["2023CXGC010701"]}]},{"name":"Quancheng 5150 Talent Introduction Plan","award":["2022YFC3601704"],"award-info":[{"award-number":["2022YFC3601704"]}]},{"name":"Quancheng 5150 Talent Introduction Plan","award":["2022YFB4703500"],"award-info":[{"award-number":["2022YFB4703500"]}]},{"name":"Quancheng 5150 Talent Introduction Plan","award":["62273325"],"award-info":[{"award-number":["62273325"]}]},{"DOI":"10.13039\/501100001809","name":"Natural Science Foundation of China","doi-asserted-by":"publisher","award":["2021CXGC011304"],"award-info":[{"award-number":["2021CXGC011304"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"Natural Science Foundation of China","doi-asserted-by":"publisher","award":["2023CXGC010701"],"award-info":[{"award-number":["2023CXGC010701"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"Natural Science Foundation of China","doi-asserted-by":"publisher","award":["2022YFC3601704"],"award-info":[{"award-number":["2022YFC3601704"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"Natural Science Foundation of China","doi-asserted-by":"publisher","award":["2022YFB4703500"],"award-info":[{"award-number":["2022YFB4703500"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"Natural Science Foundation of China","doi-asserted-by":"publisher","award":["62273325"],"award-info":[{"award-number":["62273325"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Biomimetics"],"abstract":"<jats:p>Heavy lifting operations frequently lead to upper limb muscle fatigue and injury. In order to reduce muscle fatigue, auxiliary force for upper limbs can be provided. This paper presents the development and evaluation of a wearable upper limb exoskeleton (ULE) robot system. A flexible cable transmits auxiliary torque and is connected to the upper limb by bypassing the shoulder. Based on the K-nearest neighbors (KNN) algorithm and integrated fuzzy PID control strategy, the ULE identifies the handling posture and provides accurate active auxiliary force automatically. Overall, it has the quality of being light and easy to wear. In unassisted mode, the wearer\u2019s upper limbs minimally affect the range of movement. The KNN algorithm uses multi-dimensional motion information collected by the sensor, and the test accuracy is 94.59%. Brachioradialis muscle (BM), triceps brachii (TB), and biceps brachii (BB) electromyogram (EMG) signals were evaluated by 5 kg, 10 kg, and 15 kg weight conditions for five subjects, respectively, during lifting, holding, and squatting. Compared with the ULE without assistance and with assistance, the average peak values of EMG signals of BM, TB, and BB were reduced by 19\u201330% during the whole handling process, which verified that the developed ULE could provide practical assistance under different load conditions.<\/jats:p>","DOI":"10.3390\/biomimetics9030129","type":"journal-article","created":{"date-parts":[[2024,2,21]],"date-time":"2024-02-21T05:42:46Z","timestamp":1708494166000},"page":"129","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":11,"title":["A Wearable Upper Limb Exoskeleton System and Intelligent Control Strategy"],"prefix":"10.3390","volume":"9","author":[{"given":"Qiang","family":"Wang","sequence":"first","affiliation":[{"name":"Shandong Zhongke Advanced Technology Co., Ltd., Jinan 250100, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4855-9914","authenticated-orcid":false,"given":"Chunjie","family":"Chen","sequence":"additional","affiliation":[{"name":"Guangdong Provincial Key Lab of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xinxing","family":"Mu","sequence":"additional","affiliation":[{"name":"Shandong Zhongke Advanced Technology Co., Ltd., Jinan 250100, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Haibin","family":"Wang","sequence":"additional","affiliation":[{"name":"Shandong Zhongke Advanced Technology Co., Ltd., Jinan 250100, China"},{"name":"Guangdong Provincial Key Lab of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1709-7764","authenticated-orcid":false,"given":"Zhuo","family":"Wang","sequence":"additional","affiliation":[{"name":"Guangdong Provincial Key Lab of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5086-4152","authenticated-orcid":false,"given":"Sheng","family":"Xu","sequence":"additional","affiliation":[{"name":"Shandong Zhongke Advanced Technology Co., Ltd., Jinan 250100, China"},{"name":"Guangdong Provincial Key Lab of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Weilun","family":"Guo","sequence":"additional","affiliation":[{"name":"Shandong Zhongke Advanced Technology Co., Ltd., Jinan 250100, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xinyu","family":"Wu","sequence":"additional","affiliation":[{"name":"Shandong Zhongke Advanced Technology Co., Ltd., Jinan 250100, China"},{"name":"Guangdong Provincial Key Lab of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Weimin","family":"Li","sequence":"additional","affiliation":[{"name":"Shandong Zhongke Advanced Technology Co., Ltd., Jinan 250100, China"},{"name":"Guangdong Provincial Key Lab of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2024,2,21]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"1343","DOI":"10.1109\/TRO.2021.3084466","article-title":"Soft robotic suits: State of the art, core technologies, and open challenges","volume":"38","author":"Xiloyannis","year":"2021","journal-title":"IEEE Trans. Robot."},{"key":"ref_2","doi-asserted-by":"crossref","unstructured":"Sorensen, G., Peters, S., Nielsen, K., Nagler, E., Karapanos, M., Wallace, L., Burke, L., Dennerlein, J.T., and Wagner, G.R. (2019). Improving working conditions to promote worker safety, health, and wellbeing for low-wage workers: The workplace organizational health study. Int. J. Environ. Res. Public Health, 16.","DOI":"10.3390\/ijerph16081449"},{"key":"ref_3","doi-asserted-by":"crossref","unstructured":"Ranavolo, A., Chini, G., Draicchio, F., Silvetti, A., Varrecchia, T., Fiori, L., Tatarelli, A., Rosen, P.H., Wischniewski, S., and Albrecht, P. (2021, January 13\u201318). Human-robot collaboration (HRC) technologies for reducing work-related musculoskeletal diseases in industry 4.0. Proceedings of the 21st Congress of the International Ergonomics Association (IEA 2021) Volume V: Methods & Approaches 21, Online.","DOI":"10.1007\/978-3-030-74614-8_40"},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"976","DOI":"10.1109\/TNSRE.2017.2676765","article-title":"Robust control of a cable-driven soft exoskeleton joint for intrinsic human-robot interaction","volume":"25","author":"Jarrett","year":"2017","journal-title":"IEEE Trans. Neural Syst. Rehabil. Eng."},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"100","DOI":"10.1109\/TMRB.2023.3240284","article-title":"Real-Time Gait Phase Estimation Based on Neural Network and Assistance Strategy Based on Simulated Muscle Dynamics for an Ankle Exosuit","volume":"5","author":"Wang","year":"2023","journal-title":"IEEE Trans. Med. Robot. Bionics"},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"13727","DOI":"10.1109\/TCYB.2021.3121080","article-title":"A learning-based stable servo control strategy using broad learning system applied for microrobotic control","volume":"52","author":"Xu","year":"2021","journal-title":"IEEE Trans. Cybern."},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"1102","DOI":"10.1109\/TCDS.2023.3241632","article-title":"Applied Exoskeleton Technology: A Comprehensive Review of Physical and Cognitive Human-Robot Interaction","volume":"15","author":"Nazari","year":"2023","journal-title":"IEEE Trans. Cogn. Dev. Syst."},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"315","DOI":"10.1016\/j.apergo.2018.02.025","article-title":"Assessing the influence of a passive, upper extremity exoskeletal vest for tasks requiring arm elevation: Part I\u2014\u201cExpected\u201d effects on discomfort, shoulder muscle activity, and work task performance","volume":"70","author":"Kim","year":"2018","journal-title":"Appl. Ergon."},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"171","DOI":"10.1109\/TNSRE.2016.2521160","article-title":"State of the art and future directions for lower limb robotic exoskeletons","volume":"25","author":"Young","year":"2016","journal-title":"IEEE Trans. Neural Syst. Rehabil. Eng."},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"668","DOI":"10.1126\/science.aav7536","article-title":"Reducing the metabolic rate of walking and running with a versatile, portable exosuit","volume":"365","author":"Kim","year":"2019","journal-title":"Science"},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"73","DOI":"10.1007\/s12555-016-0487-7","article-title":"Auxilio: A portable cable-driven exosuit for upper extremity assistance","volume":"15","author":"Gaponov","year":"2017","journal-title":"Int. J. Control Autom. Syst."},{"key":"ref_12","doi-asserted-by":"crossref","unstructured":"Wang, Z., Zhang, Y., Wu, X., Chen, C., Liu, Y., and Liu, E. (2020, January 28\u201329). A soft wearable exosuit reduces the fatigue of biceps Brachii muscle. Proceedings of the 2020 IEEE International Conference on Real-Time Computing and Robotics (RCAR), Asahikawa, Japan.","DOI":"10.1109\/RCAR49640.2020.9303250"},{"key":"ref_13","doi-asserted-by":"crossref","unstructured":"Shi, Y., Dong, W., Lin, W., and Gao, Y. (2022). Soft Wearable Robots: Development Status and Technical Challenges. Sensors, 22.","DOI":"10.3390\/s22197584"},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"165","DOI":"10.1109\/TMRB.2020.2989321","article-title":"A hinge-free, non-restrictive, lightweight tethered exosuit for knee extension assistance during walking","volume":"2","author":"Park","year":"2020","journal-title":"IEEE Trans. Med. Robot. Bionics"},{"key":"ref_15","doi-asserted-by":"crossref","first-page":"26","DOI":"10.1109\/TMECH.2022.3194975","article-title":"Soft exosuit based on fabric muscle for upper limb assistance","volume":"28","author":"Park","year":"2022","journal-title":"IEEE\/ASME Trans. Mechatron."},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"153297","DOI":"10.1109\/ACCESS.2020.3018418","article-title":"A cable-driven exosuit for upper limb flexion based on fibres compliance","volume":"8","author":"Ferre","year":"2020","journal-title":"IEEE Access"},{"key":"ref_17","doi-asserted-by":"crossref","unstructured":"Pont, D., Contreras, A.F., Samper, J.L., S\u00e1ez, F.J., Ferre, M., S\u00e1nchez, M.\u00c1., Ruiz, R., and Garc\u00eda, \u00c1. (2019, January 20\u201322). Exoflex: An upper-limb cable-driven exosuit. Proceedings of the Iberian Robotics Conference, Porto, Portugal.","DOI":"10.1007\/978-3-030-36150-1_34"},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"173","DOI":"10.1016\/j.robot.2017.03.012","article-title":"Adaptive backlash compensation in upper limb soft wearable exoskeletons","volume":"92","author":"Dinh","year":"2017","journal-title":"Robot. Auton. Syst."},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"4094","DOI":"10.1109\/LRA.2020.2988152","article-title":"A sEMG-driven soft exosuit based on twisted string actuators for elbow assistive applications","volume":"5","author":"Hosseini","year":"2020","journal-title":"IEEE Robot. Autom. Lett."},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"43","DOI":"10.1109\/MRA.2019.2955669","article-title":"Adaptive model-based myoelectric control for a soft wearable arm exosuit: A new generation of wearable robot control","volume":"27","author":"Lotti","year":"2020","journal-title":"IEEE Robot. Autom. Mag."},{"key":"ref_21","doi-asserted-by":"crossref","unstructured":"Ochieze, C., Zare, S., and Sun, Y. (2023). Wearable upper limb robotics for pervasive health: A review. Prog. Biomed. Eng., 5.","DOI":"10.1088\/2516-1091\/acc70a"},{"key":"ref_22","doi-asserted-by":"crossref","first-page":"487","DOI":"10.1142\/S0219843607001126","article-title":"A quasi-passive leg exoskeleton for load-carrying augmentation","volume":"4","author":"Walsh","year":"2007","journal-title":"Int. J. Humanoid Robot."},{"key":"ref_23","doi-asserted-by":"crossref","unstructured":"Van Dijk, W., Van der Kooij, H., and Hekman, E. (July, January 29). A passive exoskeleton with artificial tendons: Design and experimental evaluation. Proceedings of the 2011 IEEE International Conference on Rehabilitation Robotics, Zurich, Switzerland.","DOI":"10.1109\/ICORR.2011.5975470"},{"key":"ref_24","doi-asserted-by":"crossref","first-page":"515","DOI":"10.1249\/mss.0b013e31802b3562","article-title":"The effects of adding mass to the legs on the energetics and biomechanics of walking","volume":"39","author":"Browning","year":"2007","journal-title":"Med. Sci. Sport. Exerc."},{"key":"ref_25","doi-asserted-by":"crossref","first-page":"107226","DOI":"10.1016\/j.asoc.2021.107226","article-title":"Optimal fuzzy logic-based control strategy for lower limb rehabilitation exoskeleton","volume":"105","author":"Sharma","year":"2021","journal-title":"Appl. Soft Comput."},{"key":"ref_26","doi-asserted-by":"crossref","first-page":"1128","DOI":"10.1109\/TNSRE.2014.2324153","article-title":"Human-robot interaction: Kinematics and muscle activity inside a powered compliant knee exoskeleton","volume":"22","author":"Knaepen","year":"2014","journal-title":"IEEE Trans. Neural Syst. Rehabil. Eng."},{"key":"ref_27","doi-asserted-by":"crossref","first-page":"992","DOI":"10.1080\/01691864.2016.1176601","article-title":"Proxy-based sliding mode control of a robotic ankle-foot system for post-stroke rehabilitation","volume":"30","author":"Chen","year":"2016","journal-title":"Adv. Robot."},{"key":"ref_28","first-page":"341","article-title":"Basic tenets of classification algorithms K-nearest-neighbor, support vector machine, random forest and neural network: A review","volume":"8","author":"Boateng","year":"2020","journal-title":"J. Data Anal. Inf. Process."},{"key":"ref_29","doi-asserted-by":"crossref","first-page":"1604","DOI":"10.1109\/TNSRE.2018.2854219","article-title":"A soft exosuit for flexible upper-extremity rehabilitation","volume":"26","author":"Lessard","year":"2018","journal-title":"IEEE Trans. Neural Syst. Rehabil. Eng."},{"key":"ref_30","doi-asserted-by":"crossref","first-page":"2381","DOI":"10.1109\/LRA.2021.3061061","article-title":"Sensing and control of a multi-joint soft wearable robot for upper-limb assistance and rehabilitation","volume":"6","author":"Proietti","year":"2021","journal-title":"IEEE Robot. Autom. Lett."},{"key":"ref_31","doi-asserted-by":"crossref","first-page":"103718","DOI":"10.1016\/j.apergo.2022.103718","article-title":"Shoulder muscle activity and perceived comfort of industry workers using a commercial upper limb exoskeleton for simulated tasks","volume":"101","author":"Pinho","year":"2022","journal-title":"Appl. Ergon."},{"key":"ref_32","doi-asserted-by":"crossref","first-page":"335","DOI":"10.1002\/hfm.20946","article-title":"Analyzing surface electromyography signals to predict fatigue in Longissimus thoracis and Iliocostalis Cervicis muscles: A statistical model","volume":"32","author":"Salmanzadeh","year":"2022","journal-title":"Hum. Factors Ergon. Manuf. Serv. Ind."},{"key":"ref_33","doi-asserted-by":"crossref","unstructured":"Silva, L., Dias, M., Folgado, D., Nunes, M., Namburi, P., Anthony, B., Carvalho, D., Carvalho, M., Edelman, E., and Gamboa, H. (2022). Respiratory inductance plethysmography to assess fatigability during repetitive work. Sensors, 22.","DOI":"10.3390\/s22114247"},{"key":"ref_34","doi-asserted-by":"crossref","first-page":"7168","DOI":"10.1109\/TII.2020.2974232","article-title":"Evaluation of lower leg muscle activities during human walking assisted by an ankle exoskeleton","volume":"16","author":"Wang","year":"2020","journal-title":"IEEE Trans. Ind. Inform."},{"key":"ref_35","doi-asserted-by":"crossref","first-page":"1196","DOI":"10.1109\/TAES.2017.2667999","article-title":"Optimal sensor placement for 3-D angle-of-arrival target localization","volume":"53","author":"Xu","year":"2017","journal-title":"IEEE Trans. Aerosp. Electron. Syst."},{"key":"ref_36","doi-asserted-by":"crossref","unstructured":"Hejrati, M., and Mattila, J. (2023). Physical Human-Robot Interaction Control of an Upper Limb Exoskeleton with a Decentralized Neuroadaptive Control Scheme. IEEE Trans. Control Syst. Technol., 1\u201314.","DOI":"10.1109\/TCST.2023.3338112"},{"key":"ref_37","doi-asserted-by":"crossref","first-page":"211","DOI":"10.1016\/j.apergo.2017.10.008","article-title":"Physiological consequences of using an upper limb exoskeleton during manual handling tasks","volume":"67","author":"Theurel","year":"2018","journal-title":"Appl. Ergon."},{"key":"ref_38","doi-asserted-by":"crossref","unstructured":"Tr\u00f6ster, M., Wagner, D., M\u00fcller-Graf, F., Maufroy, C., Schneider, U., and Bauernhansl, T. (2020). Biomechanical model-based development of an active occupational upper-limb exoskeleton to support healthcare workers in the surgery waiting room. Int. J. Environ. Res. Public Health, 17.","DOI":"10.3390\/ijerph17145140"},{"key":"ref_39","doi-asserted-by":"crossref","first-page":"3936","DOI":"10.1021\/acs.langmuir.2c00278","article-title":"Mussel-inspired polynorepinephrine\/MXene-based magnetic nanohybrid for electromagnetic interference shielding in X-band and strain-sensing performance","volume":"38","author":"Ganguly","year":"2022","journal-title":"Langmuir"},{"key":"ref_40","doi-asserted-by":"crossref","first-page":"2214265","DOI":"10.1002\/adfm.202214265","article-title":"Advances in wearable strain sensors based on electrospun fibers","volume":"33","author":"Gao","year":"2023","journal-title":"Adv. Funct. Mater."}],"container-title":["Biomimetics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/2313-7673\/9\/3\/129\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,10]],"date-time":"2025-10-10T14:02:20Z","timestamp":1760104940000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/2313-7673\/9\/3\/129"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,2,21]]},"references-count":40,"journal-issue":{"issue":"3","published-online":{"date-parts":[[2024,3]]}},"alternative-id":["biomimetics9030129"],"URL":"https:\/\/doi.org\/10.3390\/biomimetics9030129","relation":{},"ISSN":["2313-7673"],"issn-type":[{"value":"2313-7673","type":"electronic"}],"subject":[],"published":{"date-parts":[[2024,2,21]]}}}