{"id":"https://openalex.org/W3153789195","doi":"https://doi.org/10.1007/s00521-021-06037-z","title":"Iterative learning-based path control for robot-assisted upper-limb rehabilitation","display_name":"Iterative learning-based path control for robot-assisted upper-limb rehabilitation","publication_year":2021,"publication_date":"2021-05-02","ids":{"openalex":"https://openalex.org/W3153789195","doi":"https://doi.org/10.1007/s00521-021-06037-z","mag":"3153789195"},"language":"en","primary_location":{"id":"doi:10.1007/s00521-021-06037-z","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s00521-021-06037-z","pdf_url":"https://link.springer.com/content/pdf/10.1007/s00521-021-06037-z.pdf","source":{"id":"https://openalex.org/S147897268","display_name":"Neural Computing and Applications","issn_l":"0941-0643","issn":["0941-0643","1433-3058"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Neural Computing and Applications","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://link.springer.com/content/pdf/10.1007/s00521-021-06037-z.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5062378045","display_name":"Kamran Maqsood","orcid":null},"institutions":[{"id":"https://openalex.org/I162608824","display_name":"University of Sussex","ror":"https://ror.org/00ayhx656","country_code":"GB","type":"education","lineage":["https://openalex.org/I162608824"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Kamran Maqsood","raw_affiliation_strings":["Department of Engineering and Design, University of Sussex, Brighton, BN1 9RH, UK","Department of Engineering and Design, University of Sussex, Brighton, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Engineering and Design, University of Sussex, Brighton, BN1 9RH, UK","institution_ids":["https://openalex.org/I162608824"]},{"raw_affiliation_string":"Department of Engineering and Design, University of Sussex, Brighton, UK","institution_ids":["https://openalex.org/I162608824"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089800679","display_name":"Jing Luo","orcid":"https://orcid.org/0000-0003-0646-743X"},"institutions":[{"id":"https://openalex.org/I56934997","display_name":"Changsha University of Science and Technology","ror":"https://ror.org/03yph8055","country_code":"CN","type":"education","lineage":["https://openalex.org/I56934997"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jing Luo","raw_affiliation_strings":["The School of Electrical and Information Engineering, Changsha University of Science and Technology, Changsha, 410114, China","The School of Electrical and Information Engineering, Changsha University of Science and Technology, Changsha, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The School of Electrical and Information Engineering, Changsha University of Science and Technology, Changsha, 410114, China","institution_ids":["https://openalex.org/I56934997"]},{"raw_affiliation_string":"The School of Electrical and Information Engineering, Changsha University of Science and Technology, Changsha, China","institution_ids":["https://openalex.org/I56934997"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019906827","display_name":"Chenguang Yang","orcid":"https://orcid.org/0000-0001-5255-5559"},"institutions":[{"id":"https://openalex.org/I178535277","display_name":"University of the West of England","ror":"https://ror.org/02nwg5t34","country_code":"GB","type":"education","lineage":["https://openalex.org/I178535277"]},{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Chenguang Yang","raw_affiliation_strings":["The Bristol Robotics Laboratory, University of the West of England, Bristol, BS16 1QY, UK","The Bristol Robotics Laboratory, University of the West of England, Bristol, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Bristol Robotics Laboratory, University of the West of England, Bristol, BS16 1QY, UK","institution_ids":["https://openalex.org/I4210161128","https://openalex.org/I178535277"]},{"raw_affiliation_string":"The Bristol Robotics Laboratory, University of the West of England, Bristol, UK","institution_ids":["https://openalex.org/I4210161128"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035097015","display_name":"Qing-Yuan Ren","orcid":null},"institutions":[{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]},{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qingyuan Ren","raw_affiliation_strings":["The State Key Laboratory of Industrial Control Technology, Zhejiang University, Hangzhou, 310058, China","The State Key Laboratory of Industrial Control Technology, Zhejiang University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The State Key Laboratory of Industrial Control Technology, Zhejiang University, Hangzhou, 310058, China","institution_ids":["https://openalex.org/I55712492","https://openalex.org/I4391767838"]},{"raw_affiliation_string":"The State Key Laboratory of Industrial Control Technology, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I55712492","https://openalex.org/I4391767838"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082520195","display_name":"Yanan Li","orcid":"https://orcid.org/0000-0002-1443-2547"},"institutions":[{"id":"https://openalex.org/I162608824","display_name":"University of Sussex","ror":"https://ror.org/00ayhx656","country_code":"GB","type":"education","lineage":["https://openalex.org/I162608824"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Yanan Li","raw_affiliation_strings":["Department of Engineering and Design, University of Sussex, Brighton, BN1 9RH, UK","Department of Engineering and Design, University of Sussex, Brighton, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Engineering and Design, University of Sussex, Brighton, BN1 9RH, UK","institution_ids":["https://openalex.org/I162608824"]},{"raw_affiliation_string":"Department of Engineering and Design, University of Sussex, Brighton, UK","institution_ids":["https://openalex.org/I162608824"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5082520195"],"corresponding_institution_ids":["https://openalex.org/I162608824"],"apc_list":{"value":2390,"currency":"EUR","value_usd":2990},"apc_paid":{"value":2390,"currency":"EUR","value_usd":2990},"fwci":1.218,"has_fulltext":true,"cited_by_count":15,"citation_normalized_percentile":{"value":0.78230724,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"35","issue":"32","first_page":"23329","last_page":"23341"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.9898999929428101,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T11749","display_name":"Iterative Learning Control Systems","score":0.9898999929428101,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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":0.9890000224113464,"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"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9850999712944031,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7831343412399292},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.689340353012085},{"id":"https://openalex.org/keywords/iterative-learning-control","display_name":"Iterative learning control","score":0.6477440595626831},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5956891775131226},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.5897045731544495},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.5218364596366882},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5019311904907227},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.46197521686553955},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4104064106941223},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.37628108263015747},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.35871145129203796},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.26421672105789185},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13351482152938843}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7831343412399292},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.689340353012085},{"id":"https://openalex.org/C117619785","wikidata":"https://www.wikidata.org/wiki/Q6094414","display_name":"Iterative learning control","level":3,"score":0.6477440595626831},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5956891775131226},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.5897045731544495},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.5218364596366882},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5019311904907227},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.46197521686553955},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4104064106941223},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.37628108263015747},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.35871145129203796},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.26421672105789185},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13351482152938843},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1007/s00521-021-06037-z","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s00521-021-06037-z","pdf_url":"https://link.springer.com/content/pdf/10.1007/s00521-021-06037-z.pdf","source":{"id":"https://openalex.org/S147897268","display_name":"Neural Computing and Applications","issn_l":"0941-0643","issn":["0941-0643","1433-3058"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Neural Computing and Applications","raw_type":"journal-article"},{"id":"pmh:oai:figshare.com:article/23480603","is_oa":true,"landing_page_url":"https://figshare.com/articles/journal_contribution/Iterative_learning-based_path_control_for_robot-assisted_upper-limb_rehabilitation/23480603","pdf_url":null,"source":{"id":"https://openalex.org/S4306402621","display_name":"INDIGO (University of Illinois at Chicago)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I39422238","host_organization_name":"University of Illinois Chicago","host_organization_lineage":["https://openalex.org/I39422238"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},{"id":"pmh:oai:sro.sussex.ac.uk:97499","is_oa":true,"landing_page_url":"http://sro.sussex.ac.uk/id/eprint/97499/4/Maqsood2021_Article_IterativeLearning-basedPathCon.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400129","display_name":"Sussex Research Online (University of Sussex)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I162608824","host_organization_name":"University of Sussex","host_organization_lineage":["https://openalex.org/I162608824"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"}],"best_oa_location":{"id":"doi:10.1007/s00521-021-06037-z","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s00521-021-06037-z","pdf_url":"https://link.springer.com/content/pdf/10.1007/s00521-021-06037-z.pdf","source":{"id":"https://openalex.org/S147897268","display_name":"Neural Computing and Applications","issn_l":"0941-0643","issn":["0941-0643","1433-3058"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Neural Computing and Applications","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G51555188","display_name":null,"funder_award_id":"ICT20050","funder_id":"https://openalex.org/F4320326952","funder_display_name":"State Key Laboratory of Industrial Control Technology"},{"id":"https://openalex.org/G5737479545","display_name":null,"funder_award_id":"EP/T006951/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G8572893347","display_name":"The Game Theory of Human-Robot Interaction","funder_award_id":"EP/T006951/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320322927","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884"},{"id":"https://openalex.org/F4320326952","display_name":"State Key Laboratory of Industrial Control Technology","ror":null},{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3153789195.pdf","grobid_xml":"https://content.openalex.org/works/W3153789195.grobid-xml"},"referenced_works_count":40,"referenced_works":["https://openalex.org/W1966395951","https://openalex.org/W1968282828","https://openalex.org/W1972028324","https://openalex.org/W1972230571","https://openalex.org/W1978023077","https://openalex.org/W2007671125","https://openalex.org/W2070922220","https://openalex.org/W2092060192","https://openalex.org/W2113664910","https://openalex.org/W2142237039","https://openalex.org/W2142744626","https://openalex.org/W2293200354","https://openalex.org/W2326479486","https://openalex.org/W2330589301","https://openalex.org/W2394331944","https://openalex.org/W2421101485","https://openalex.org/W2508483795","https://openalex.org/W2517641405","https://openalex.org/W2560492373","https://openalex.org/W2566495809","https://openalex.org/W2596784518","https://openalex.org/W2739703652","https://openalex.org/W2765524390","https://openalex.org/W2769294089","https://openalex.org/W2786888382","https://openalex.org/W2793553994","https://openalex.org/W2883972132","https://openalex.org/W2909552575","https://openalex.org/W2920109542","https://openalex.org/W2947468050","https://openalex.org/W2965222915","https://openalex.org/W2967763175","https://openalex.org/W2982234236","https://openalex.org/W2998137241","https://openalex.org/W3000344965","https://openalex.org/W3011525265","https://openalex.org/W3014982919","https://openalex.org/W3044381085","https://openalex.org/W3092948749","https://openalex.org/W4245293806"],"related_works":["https://openalex.org/W2761624296","https://openalex.org/W4386994694","https://openalex.org/W4388738109","https://openalex.org/W2362901947","https://openalex.org/W2373557848","https://openalex.org/W2088970451","https://openalex.org/W2157008402","https://openalex.org/W2592302855","https://openalex.org/W1500588313","https://openalex.org/W3105789002"],"abstract_inverted_index":{"Abstract":[0],"In":[1,21,113],"robot-assisted":[2],"rehabilitation,":[3],"the":[4,12,25,40,74,78,92,102,107,110,114,118,126,145,151,179],"performance":[5,27],"of":[6,36,50,80],"robotic":[7],"assistance":[8,181],"is":[9,57,88,135],"dependent":[10],"on":[11],"human":[13,81,97,111,141,146,188],"user\u2019s":[14],"dynamics,":[15],"which":[16],"are":[17],"subject":[18],"to":[19,23,31,66,90,96,100,117,137],"uncertainties.":[20],"order":[22],"enhance":[24],"rehabilitation":[26,167],"and":[28,54,68,99,109,143,173],"in":[29,77,161],"particular":[30],"provide":[32],"a":[33,47],"constant":[34],"level":[35,182],"assistance,":[37],"we":[38],"separate":[39],"task":[41,119],"space":[42],"into":[43],"two":[44],"subspaces":[45],"where":[46],"combined":[48],"scheme":[49,158],"adaptive":[51],"impedance":[52,132],"control":[53],"trajectory":[55,85,127],"learning":[56,86],"developed.":[58],"Human":[59],"movement":[60,98],"speed":[61],"can":[62],"vary":[63],"from":[64,150],"person":[65,67],"it":[69],"cannot":[70],"be":[71,184],"predefined":[72],"for":[73,139],"robot.":[75],"Therefore,":[76,130],"direction":[79,115],"movement,":[82],"an":[83,131],"iterative":[84],"approach":[87],"developed":[89],"update":[91],"robot":[93,108,153],"reference":[94,154],"according":[95],"achieve":[101],"desired":[103,180],"interaction":[104,170],"force":[105,123,142],"between":[106],"user.":[112],"normal":[116],"trajectory,":[120],"human\u2019s":[121],"unintentional":[122],"may":[124],"deteriorate":[125],"tracking":[128],"performance.":[129],"adaptation":[133],"method":[134],"utilized":[136],"compensate":[138],"unknown":[140],"prevent":[144],"user":[147],"drifting":[148],"away":[149],"updated":[152],"trajectory.":[155],"The":[156],"proposed":[157],"was":[159],"tested":[160],"experiments":[162],"that":[163,178],"emulated":[164],"three":[165],"upper-limb":[166],"modes:":[168],"zero":[169],"force,":[171],"assistive":[172],"resistive.":[174],"Experimental":[175],"results":[176],"showed":[177],"could":[183],"achieved,":[185],"despite":[186],"uncertain":[187],"dynamics.":[189]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2}],"updated_date":"2026-06-19T15:47:20.252518","created_date":"2025-10-10T00:00:00"}