{"id":"https://openalex.org/W4386804186","doi":"https://doi.org/10.1007/s10846-023-01963-7","title":"Adaptive Gait Trajectory and Event Prediction of Lower Limb Exoskeletons for Various Terrains Using Reinforcement Learning","display_name":"Adaptive Gait Trajectory and Event Prediction of Lower Limb Exoskeletons for Various Terrains Using Reinforcement Learning","publication_year":2023,"publication_date":"2023-09-16","ids":{"openalex":"https://openalex.org/W4386804186","doi":"https://doi.org/10.1007/s10846-023-01963-7"},"language":"en","primary_location":{"id":"doi:10.1007/s10846-023-01963-7","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10846-023-01963-7","pdf_url":null,"source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent & Robotic Systems","raw_type":"journal-article"},"type":"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/A5102850681","display_name":"Zhipeng Yu","orcid":"https://orcid.org/0000-0002-4526-8217"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]},{"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/I2802624667","display_name":"Hefei Institutes of Physical Science","ror":"https://ror.org/046n57345","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667"]},{"id":"https://openalex.org/I4210099079","display_name":"Institute of Intelligent Machines","ror":"https://ror.org/00w0qep84","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667","https://openalex.org/I4210099079"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhipeng Yu","raw_affiliation_strings":["Department of Science Island, University of Science and Technology of China, Hefei, 230026, China","Institute of Intelligent Machines, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei, 230031, China","Department of Science Island, University of Science and Technology of China, Hefei, China","Institute of Intelligent Machines, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Science Island, University of Science and Technology of China, Hefei, 230026, China","institution_ids":["https://openalex.org/I126520041"]},{"raw_affiliation_string":"Institute of Intelligent Machines, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei, 230031, China","institution_ids":["https://openalex.org/I2802624667","https://openalex.org/I4210099079","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Department of Science Island, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]},{"raw_affiliation_string":"Institute of Intelligent Machines, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei, China","institution_ids":["https://openalex.org/I2802624667","https://openalex.org/I4210099079","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100853003","display_name":"Jianghai Zhao","orcid":null},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianghai Zhao","raw_affiliation_strings":["Department of Automation, University of Science and Technology of China, Hefei, 230026, China","Department of Automation, University of Science and Technology of China, Hefei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Automation, University of Science and Technology of China, Hefei, 230026, China","institution_ids":["https://openalex.org/I126520041"]},{"raw_affiliation_string":"Department of Automation, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033735224","display_name":"Danhui Chen","orcid":null},"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/I4210157608","display_name":"Institute of Advanced Manufacturing Technology","ror":"https://ror.org/05egxdg81","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210157608"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Danhui Chen","raw_affiliation_strings":["Changzhou Institute of Advanced Manufacturing Technology, Chinese Academy of Sciences, Changzhou, 213164, China","Changzhou Institute of Advanced Manufacturing Technology, Chinese Academy of Sciences, Changzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Changzhou Institute of Advanced Manufacturing Technology, Chinese Academy of Sciences, Changzhou, 213164, China","institution_ids":["https://openalex.org/I4210157608"]},{"raw_affiliation_string":"Changzhou Institute of Advanced Manufacturing Technology, Chinese Academy of Sciences, Changzhou, China","institution_ids":["https://openalex.org/I4210157608","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100684926","display_name":"Shuyan Chen","orcid":"https://orcid.org/0009-0000-9079-6978"},"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/I4210157608","display_name":"Institute of Advanced Manufacturing Technology","ror":"https://ror.org/05egxdg81","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210157608"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuyan Chen","raw_affiliation_strings":["Changzhou Institute of Advanced Manufacturing Technology, Chinese Academy of Sciences, Changzhou, 213164, China","Changzhou Institute of Advanced Manufacturing Technology, Chinese Academy of Sciences, Changzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Changzhou Institute of Advanced Manufacturing Technology, Chinese Academy of Sciences, Changzhou, 213164, China","institution_ids":["https://openalex.org/I4210157608"]},{"raw_affiliation_string":"Changzhou Institute of Advanced Manufacturing Technology, Chinese Academy of Sciences, Changzhou, China","institution_ids":["https://openalex.org/I4210157608","https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100351295","display_name":"Xiaojie Wang","orcid":"https://orcid.org/0000-0002-4740-7882"},"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/I2802624667","display_name":"Hefei Institutes of Physical Science","ror":"https://ror.org/046n57345","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667"]},{"id":"https://openalex.org/I4210099079","display_name":"Institute of Intelligent Machines","ror":"https://ror.org/00w0qep84","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667","https://openalex.org/I4210099079"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xiaojie Wang","raw_affiliation_strings":["Institute of Intelligent Machines, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei, 230031, China","Institute of Intelligent Machines, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Intelligent Machines, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei, 230031, China","institution_ids":["https://openalex.org/I2802624667","https://openalex.org/I4210099079","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Institute of Intelligent Machines, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei, China","institution_ids":["https://openalex.org/I2802624667","https://openalex.org/I4210099079","https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5100351295"],"corresponding_institution_ids":["https://openalex.org/I19820366","https://openalex.org/I2802624667","https://openalex.org/I4210099079"],"apc_list":{"value":2390,"currency":"EUR","value_usd":2990},"apc_paid":null,"fwci":0.6804,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.65063916,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"109","issue":"2","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9994000196456909,"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":0.9994000196456909,"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":0.9886000156402588,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.982200026512146,"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/exoskeleton","display_name":"Exoskeleton","score":0.8174195289611816},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.7548731565475464},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7324172854423523},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5180978178977966},{"id":"https://openalex.org/keywords/event","display_name":"Event (particle physics)","score":0.47606486082077026},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.41359996795654297},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.41173693537712097},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.32481762766838074},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3049747943878174},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.13317161798477173},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12411448359489441}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.8174195289611816},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.7548731565475464},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7324172854423523},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5180978178977966},{"id":"https://openalex.org/C2779662365","wikidata":"https://www.wikidata.org/wiki/Q5416694","display_name":"Event (particle physics)","level":2,"score":0.47606486082077026},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41359996795654297},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.41173693537712097},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.32481762766838074},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3049747943878174},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.13317161798477173},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12411448359489441},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","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/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/s10846-023-01963-7","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10846-023-01963-7","pdf_url":null,"source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent & Robotic Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.44999998807907104,"id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G5046104075","display_name":null,"funder_award_id":"BE2017007-1","funder_id":"https://openalex.org/F4320327780","funder_display_name":"Key Research and Development Program of Jiangxi Province"}],"funders":[{"id":"https://openalex.org/F4320327780","display_name":"Key Research and Development Program of Jiangxi Province","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1050948393","https://openalex.org/W1583410355","https://openalex.org/W1981347026","https://openalex.org/W1996654689","https://openalex.org/W2091225247","https://openalex.org/W2770394012","https://openalex.org/W2785535646","https://openalex.org/W2884876207","https://openalex.org/W2953723536","https://openalex.org/W2969071609","https://openalex.org/W2972234767","https://openalex.org/W2982529867","https://openalex.org/W3011134297","https://openalex.org/W3017117590","https://openalex.org/W3023092994","https://openalex.org/W3111113541","https://openalex.org/W3123648169","https://openalex.org/W3187228760","https://openalex.org/W3194991797","https://openalex.org/W3201679314","https://openalex.org/W4206069532","https://openalex.org/W4220964951","https://openalex.org/W4223934205","https://openalex.org/W4225939305","https://openalex.org/W4226336393","https://openalex.org/W4282007851","https://openalex.org/W4307500930","https://openalex.org/W4309078425","https://openalex.org/W4324095253","https://openalex.org/W4365442914","https://openalex.org/W4366503935","https://openalex.org/W6676736541"],"related_works":["https://openalex.org/W1936161366","https://openalex.org/W3114489813","https://openalex.org/W2775126497","https://openalex.org/W3047949941","https://openalex.org/W2979698599","https://openalex.org/W2023190290","https://openalex.org/W4292387776","https://openalex.org/W4288064529","https://openalex.org/W4304142062","https://openalex.org/W1981347026"],"abstract_inverted_index":null,"counts_by_year":[{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":1}],"updated_date":"2026-06-13T06:13:01.061226","created_date":"2025-10-10T00:00:00"}