{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,9,10]],"date-time":"2026-09-10T12:30:01Z","timestamp":1789043401988,"version":"build-2803163510"},"reference-count":38,"publisher":"MDPI AG","issue":"5","license":[{"start":{"date-parts":[[2025,3,5]],"date-time":"2025-03-05T00:00:00Z","timestamp":1741132800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100011913","name":"Kaohsiung Veterans General Hospital","doi-asserted-by":"publisher","award":["KSVNSU112-004"],"award-info":[{"award-number":["KSVNSU112-004"]}],"id":[{"id":"10.13039\/501100011913","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100011913","name":"Kaohsiung Veterans General Hospital","doi-asserted-by":"publisher","award":["113-2222-E-992-007"],"award-info":[{"award-number":["113-2222-E-992-007"]}],"id":[{"id":"10.13039\/501100011913","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100011913","name":"Kaohsiung Veterans General Hospital","doi-asserted-by":"publisher","award":["111-2222-E-110-005-MY3"],"award-info":[{"award-number":["111-2222-E-110-005-MY3"]}],"id":[{"id":"10.13039\/501100011913","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100004663","name":"National Science and Technology Council in Taiwan","doi-asserted-by":"publisher","award":["KSVNSU112-004"],"award-info":[{"award-number":["KSVNSU112-004"]}],"id":[{"id":"10.13039\/501100004663","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100004663","name":"National Science and Technology Council in Taiwan","doi-asserted-by":"publisher","award":["113-2222-E-992-007"],"award-info":[{"award-number":["113-2222-E-992-007"]}],"id":[{"id":"10.13039\/501100004663","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100004663","name":"National Science and Technology Council in Taiwan","doi-asserted-by":"publisher","award":["111-2222-E-110-005-MY3"],"award-info":[{"award-number":["111-2222-E-110-005-MY3"]}],"id":[{"id":"10.13039\/501100004663","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>This study introduces an integrated lower limb robotic orthosis with near-field electrospinning (NFES) piezoelectric sensors and a fuzzy logic-based gait phase detection system to enhance mobility assistance and rehabilitation. The exoskeleton incorporates embedded pressure sensors within the insoles to capture ground reaction forces (GRFs) in real-time. A fuzzy logic inference system processes these signals, classifying gait phases such as stance, initial contact, mid-stance, and pre-swing. The NFES technique enables the fabrication of highly oriented nanofibers, improving sensor sensitivity and reliability. The system employs a master\u2013slave control framework. A Texas Instruments (TI) TMS320F28069 microcontroller (Texas Instruments, Dallas, TX, USA) processes gait data and transmits actuation commands to motors and harmonic drives at the hip and knee joints. The control strategy follows a three-loop methodology, ensuring stable operation. Experimental validation assesses the system\u2019s accuracy under various conditions, including no-load and loaded scenarios. Results demonstrate that the exoskeleton accurately detects gait phases, achieving a maximum tracking error of 4.23% in an 8-s gait cycle under no-load conditions and 4.34% when tested with a 68 kg user. Faster motion cycles introduce a maximum error of 6.79% for a 3-s gait cycle, confirming the system\u2019s adaptability to dynamic walking conditions. These findings highlight the effectiveness of the developed exoskeleton in interpreting human motion intentions, positioning it as a promising solution for wearable rehabilitation and mobility assistance.<\/jats:p>","DOI":"10.3390\/s25051606","type":"journal-article","created":{"date-parts":[[2025,3,5]],"date-time":"2025-03-05T11:20:57Z","timestamp":1741173657000},"page":"1606","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":7,"title":["Integrated Lower Limb Robotic Orthosis with Embedded Highly Oriented Electrospinning Sensors by Fuzzy Logic-Based Gait Phase Detection and Motion Control"],"prefix":"10.3390","volume":"25","author":[{"given":"Ming-Chan","family":"Lee","sequence":"first","affiliation":[{"name":"Department of Electrical Engineering, National Kaohsiung University of Science and Technology, Kaohsiung 807, Taiwan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Cheng-Tang","family":"Pan","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Electro-Mechanical Engineering, National Sun Yat-sen University, Kaohsiung 804, Taiwan"},{"name":"Institute of Advanced Semiconductor Packaging and Testing, College of Semiconductor and Advanced Technology Research, National Sun Yat-sen University, Kaohsiung 804, Taiwan"},{"name":"Institute of Precision Medicine, National Sun Yat-sen University, Kaohsiung 804, Taiwan"},{"name":"Taiwan Instrument Research Institute, National Applied Research Laboratories, Hsinchu City 300, Taiwan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jhih-Syuan","family":"Huang","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Electro-Mechanical Engineering, National Sun Yat-sen University, Kaohsiung 804, Taiwan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5257-1532","authenticated-orcid":false,"given":"Zheng-Yu","family":"Hoe","sequence":"additional","affiliation":[{"name":"Department of Physical Medicine and Rehabilitation, Kaohsiung Veterans General Hospital, Kaohsiung 813, Taiwan"},{"name":"Department of Pharmacy and Master Program, Tajen University, Pingtung County 90741, Taiwan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yeong-Maw","family":"Hwang","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Electro-Mechanical Engineering, National Sun Yat-sen University, Kaohsiung 804, Taiwan"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2025,3,5]]},"reference":[{"key":"ref_1","unstructured":"United Nations Department of Economic and Social Affairs, Population Division (2019) (2022, May 29). 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