{"id":"https://openalex.org/W3089928104","doi":"https://doi.org/10.1109/icra40945.2020.9196774","title":"A Bio-Signal Enhanced Adaptive Impedance Controller for Lower Limb Exoskeleton","display_name":"A Bio-Signal Enhanced Adaptive Impedance Controller for Lower Limb Exoskeleton","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3089928104","doi":"https://doi.org/10.1109/icra40945.2020.9196774","mag":"3089928104"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9196774","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},"type":"article","type_crossref":"proceedings-article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5085837130","display_name":"Linqing Xia","orcid":null},"institutions":[{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Linqing Xia","raw_affiliation_strings":["Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Guangdong, China"],"affiliations":[{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Guangdong, China","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100628033","display_name":"Yachun Feng","orcid":"https://orcid.org/0009-0003-5891-8674"},"institutions":[{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yachun Feng","raw_affiliation_strings":["Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Guangdong, China"],"affiliations":[{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Guangdong, China","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006373875","display_name":"Fan Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fan Chen","raw_affiliation_strings":["Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Guangdong, China","University of Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Guangdong, China","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I19820366"]},{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100352764","display_name":"Xinyu Wu","orcid":"https://orcid.org/0000-0001-6130-7821"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210104064","display_name":"Shenzhen Academy of Robotics","ror":"https://ror.org/01h027j09","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210104064"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinyu Wu","raw_affiliation_strings":["Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Guangdong, China","Shenzhen Institute of Artificial Intelligence and Robotics for Society, SIAT Branch, Guangdong, China"],"affiliations":[{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Guangdong, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]},{"raw_affiliation_string":"Shenzhen Institute of Artificial Intelligence and Robotics for Society, SIAT Branch, Guangdong, China","institution_ids":["https://openalex.org/I4210104064"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.415,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.770642,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":77,"max":79},"biblio":{"volume":null,"issue":null,"first_page":"4739","last_page":"4744"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9995,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9995,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9981,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9839,"subfield":{"id":"https://openalex.org/subfields/2742","display_name":"Rehabilitation"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/powered-exoskeleton","display_name":"Powered exoskeleton","score":0.7183531}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.9578043},{"id":"https://openalex.org/C45391945","wikidata":"https://www.wikidata.org/wiki/Q938523","display_name":"Powered exoskeleton","level":3,"score":0.7183531},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.71261746},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6484646},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5889027},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.555281},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.54051274},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.4724743},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.40321457},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.36501294},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3486785},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32554778},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.108597815},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9196774","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false}],"best_oa_location":null,"sustainable_development_goals":[],"grants":[],"datasets":[],"versions":[],"referenced_works_count":26,"referenced_works":["https://openalex.org/W1019891831","https://openalex.org/W1510441903","https://openalex.org/W1576228018","https://openalex.org/W1965977540","https://openalex.org/W1967377907","https://openalex.org/W2012696574","https://openalex.org/W2018720577","https://openalex.org/W2024443092","https://openalex.org/W2036826589","https://openalex.org/W2042308380","https://openalex.org/W2083483041","https://openalex.org/W2085412307","https://openalex.org/W2092646159","https://openalex.org/W2102046115","https://openalex.org/W2125030820","https://openalex.org/W2126663592","https://openalex.org/W2151906934","https://openalex.org/W2166869394","https://openalex.org/W2168872721","https://openalex.org/W2330589301","https://openalex.org/W2523980053","https://openalex.org/W2620174812","https://openalex.org/W2803873619","https://openalex.org/W2884876207","https://openalex.org/W2910932367","https://openalex.org/W2916773987"],"related_works":["https://openalex.org/W4386159943","https://openalex.org/W3205655234","https://openalex.org/W2909939948","https://openalex.org/W2908002960","https://openalex.org/W2906683640","https://openalex.org/W2893851384","https://openalex.org/W2808226217","https://openalex.org/W2780323031","https://openalex.org/W2015794229","https://openalex.org/W1989011507"],"abstract_inverted_index":{"The":[0,56],"problem":[1],"of":[2,21,50,59,92,121,142],"human-exoskeleton":[3],"interaction":[4],"with":[5,94,129],"uncertain":[6],"dynamical":[7],"parameters":[8],"remains":[9],"an":[10,16,100],"open-ended":[11],"research":[12],"area.":[13],"It":[14,86],"requires":[15],"elaborate":[17],"control":[18,39],"strategy":[19],"design":[20],"the":[22,42,52,65,72,89,134],"exoskeleton":[23,45,116,137],"to":[24,46,63,114],"accommodate":[25],"complex":[26],"and":[27,133],"unpredictable":[28],"human":[29,53,66,123],"body":[30],"movements.":[31],"In":[32],"this":[33,60,76],"paper,":[34],"we":[35,78],"proposed":[36],"a":[37,80,122],"novel":[38],"approach":[40],"for":[41],"lower":[43,67],"limb":[44],"realize":[47],"its":[48],"task":[49],"assisting":[51],"operator":[54],"walking.":[55],"main":[57],"challenge":[58],"study":[61],"was":[62],"determine":[64],"extremity":[68],"dynamics,":[69],"such":[70],"as":[71],"joint":[73,90],"torque.":[74],"For":[75],"purpose,":[77],"developed":[79,138],"neural":[81,104],"network-based":[82],"torque":[83],"estimation":[84],"method.":[85],"can":[87],"predict":[88],"torques":[91],"humans":[93],"surface":[95],"electromyogram":[96],"signals":[97],"(sEMG).":[98],"Then":[99],"radial":[101],"basis":[102],"function":[103],"network":[105],"(RBF":[106],"NN)":[107],"enhanced":[108],"adaptive":[109],"impedance":[110],"controller":[111],"is":[112,127],"employed":[113],"ensure":[115],"track":[117],"desired":[118],"motion":[119],"trajectory":[120],"operator.":[124],"Algorithm":[125],"performance":[126],"evaluated":[128],"two":[130],"healthy":[131],"subjects":[132],"rehabilitation":[135],"lower-limb":[136],"by":[139],"Shenzhen":[140],"Institutes":[141],"Advanced":[143],"Technology":[144],"(SIAT).":[145]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W3089928104","counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2024-12-24T06:50:24.971215","created_date":"2020-10-08"}