{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,19]],"date-time":"2026-05-19T18:39:45Z","timestamp":1779215985820,"version":"3.51.4"},"reference-count":33,"publisher":"MDPI AG","issue":"24","license":[{"start":{"date-parts":[[2021,12,15]],"date-time":"2021-12-15T00:00:00Z","timestamp":1639526400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["91848104"],"award-info":[{"award-number":["91848104"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["91748201"],"award-info":[{"award-number":["91748201"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>A knee exoskeleton with an adaptive instantaneous rotation center and impact absorption is used for rehabilitation. Due to the human knee joint\u2019s special physiological structure and motion characteristics, the exoskeleton mechanism needs to be designed for both static and dynamic aspects. Therefore, a novel knee exoskeleton mechanism was designed. To adapt to the rotation center of the knee joint, a mechanism with cross-configuration was designed according to the equivalent degree of freedom and the stiffness of the springs was calculated by its combination with gait motion, so that the average force of the human body was minimized. A dynamic model of the exoskeleton was established. To overcome the uncertainty in the parameters of the human and robotic limbs, an adaptive controller was designed and a Lyapunov stability analysis was conducted to verify the system. A simulation was conducted and experimental results show that the tracking error of the knee joint angle between the actual and desired trajectory was within the range of \u22121 to 1 degree and indicate the effectiveness of the controller.<\/jats:p>","DOI":"10.3390\/s21248390","type":"journal-article","created":{"date-parts":[[2021,12,15]],"date-time":"2021-12-15T21:47:36Z","timestamp":1639604856000},"page":"8390","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":17,"title":["Design and Control of an Adaptive Knee Joint Exoskeleton Mechanism with Buffering Function"],"prefix":"10.3390","volume":"21","author":[{"given":"Yapeng","family":"Wang","sequence":"first","affiliation":[{"name":"Research Center of Satellite Technology, Harbin Institute of Technology, Harbin 150080, China"},{"name":"Beijing Xinfeng Aerospace Equipment Co., Ltd., Beijing 100854, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Wei","family":"Zhang","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7190-1928","authenticated-orcid":false,"given":"Di","family":"Shi","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yunhai","family":"Geng","sequence":"additional","affiliation":[{"name":"Research Center of Satellite Technology, Harbin Institute of Technology, Harbin 150080, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2021,12,15]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"1695","DOI":"10.1109\/TMECH.2017.2704521","article-title":"Design and Validation of a Torque-Controllable Knee Exoskeleton for Sit-to-Stand Assistance","volume":"22","author":"Shepherd","year":"2017","journal-title":"IEEE\/ASME Trans. 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