{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,8,23]],"date-time":"2026-08-23T15:09:29Z","timestamp":1787497769311,"version":"build-2736575974"},"reference-count":40,"publisher":"MDPI AG","issue":"23","license":[{"start":{"date-parts":[[2024,11,24]],"date-time":"2024-11-24T00:00:00Z","timestamp":1732406400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"NSTC of Taiwan","award":["MOST 108-2321-B-027-001"],"award-info":[{"award-number":["MOST 108-2321-B-027-001"]}]},{"name":"NSTC of Taiwan","award":["MOST 108-2221-E-003-024-MY3"],"award-info":[{"award-number":["MOST 108-2221-E-003-024-MY3"]}]},{"name":"NSTC of Taiwan","award":["MOST 112-2221-E-003-023"],"award-info":[{"award-number":["MOST 112-2221-E-003-023"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Parkinson\u2019s disease (PD) is a neurodegenerative disorder and always results in balance loss. Although studies in lower-extremity exoskeleton robots are ample, applications with a lower-extremity exoskeleton robot for PD patients are still challenging. This paper aims to develop an effective assistive control for PD patients with a lower-extremity exoskeleton robot to maintain standing balance while being subjected to external disturbances. When an external force is applied to participants to force them to lose balance, the hip strategy for balance recovery based on the zero moment point (ZMP) metrics is used to generate a reference trajectory of the hip joint, and then, a model-free linear extended state observer (LESO)-based fuzzy sliding mode control (FSMC) is synthesized to regulate the human body to recover balance. Balance recovery trials for healthy individuals and PD patients with and without exoskeleton assistance were conducted to evaluate the performance of the proposed exoskeleton robot and balance recovery strategy. Our experiments demonstrated the potential effectiveness of the proposed exoskeleton robot and controller for standing balance recovery control in PD patients.<\/jats:p>","DOI":"10.3390\/s24237498","type":"journal-article","created":{"date-parts":[[2024,11,25]],"date-time":"2024-11-25T09:59:34Z","timestamp":1732528774000},"page":"7498","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":3,"title":["Assisting Standing Balance Recovery for Parkinson\u2019s Patients with a Lower-Extremity Exoskeleton Robot"],"prefix":"10.3390","volume":"24","author":[{"given":"Chi-Shiuan","family":"Lee","sequence":"first","affiliation":[{"name":"Department of Mechatronic Engineering, National Taiwan Normal University, 162, Section 1, He-Ping East Rd., Taipei 106, Taiwan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Lo-Ping","family":"Yu","sequence":"additional","affiliation":[{"name":"Attending Physician of Department of Physical Medicine and Rehabilitation, Taipei Veterans General Hospital, 201, Section 2, Shipai Rd., Taipei 106, Taiwan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Si-Huei","family":"Lee","sequence":"additional","affiliation":[{"name":"Attending Physician of Department of Physical Medicine and Rehabilitation, Taipei Veterans General Hospital, 201, Section 2, Shipai Rd., Taipei 106, Taiwan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yi-Chia","family":"Chen","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering, National Kaohsiung Normal University, 62, Shenzhong Rd., Kaohsiung 824, Taiwan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Chun-Ta","family":"Chen","sequence":"additional","affiliation":[{"name":"Department of Mechatronic Engineering, National Taiwan Normal University, 162, Section 1, He-Ping East Rd., Taipei 106, Taiwan"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2024,11,24]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"36","DOI":"10.1177\/1073858408322674","article-title":"Whole-Body Responses: Neural Control and Implications for Rehabilitation and Fall Prevention","volume":"15","author":"Marigold","year":"2009","journal-title":"Neuroscientist"},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"2410","DOI":"10.1249\/MSS.0b013e318268c89f","article-title":"Task-Specific Training Reduces Trip-Related Fall Risk in Women","volume":"44","author":"Grabiner","year":"2012","journal-title":"Med. 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