{"id":"https://openalex.org/W7155638625","doi":"https://doi.org/10.1016/j.robot.2026.105493","title":"Lyapunov-constrained reinforcement learning-based hybrid impedance control for cable-driven lower-limb rehabilitation robots","display_name":"Lyapunov-constrained reinforcement learning-based hybrid impedance control for cable-driven lower-limb rehabilitation robots","publication_year":2026,"publication_date":"2026-04-25","ids":{"openalex":"https://openalex.org/W7155638625","doi":"https://doi.org/10.1016/j.robot.2026.105493"},"language":"en","primary_location":{"id":"doi:10.1016/j.robot.2026.105493","is_oa":false,"landing_page_url":"https://doi.org/10.1016/j.robot.2026.105493","pdf_url":null,"source":{"id":"https://openalex.org/S133768115","display_name":"Robotics and Autonomous Systems","issn_l":"0921-8890","issn":["0921-8890","1872-793X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics and Autonomous 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/A5101140673","display_name":"Yuxiang Luo","orcid":null},"institutions":[{"id":"https://openalex.org/I202126657","display_name":"Qufu Normal University","ror":"https://ror.org/03ceheh96","country_code":"CN","type":"education","lineage":["https://openalex.org/I202126657"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuxiang Luo","raw_affiliation_strings":["School of Engineering, Qufu Normal University, Rizhao, 276826, China"],"raw_orcid":"https://orcid.org/0009-0008-7471-2496","affiliations":[{"raw_affiliation_string":"School of Engineering, Qufu Normal University, Rizhao, 276826, China","institution_ids":["https://openalex.org/I202126657"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016513144","display_name":"Dianguo Cao","orcid":"https://orcid.org/0000-0002-6179-2991"},"institutions":[{"id":"https://openalex.org/I202126657","display_name":"Qufu Normal University","ror":"https://ror.org/03ceheh96","country_code":"CN","type":"education","lineage":["https://openalex.org/I202126657"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dianguo Cao","raw_affiliation_strings":["School of Engineering, Qufu Normal University, Rizhao, 276826, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering, Qufu Normal University, Rizhao, 276826, China","institution_ids":["https://openalex.org/I202126657"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012826721","display_name":"Yuqiang Wu","orcid":"https://orcid.org/0000-0001-8171-8740"},"institutions":[{"id":"https://openalex.org/I4210155952","display_name":"Qingdao Huanghai University","ror":"https://ror.org/05e1zbn94","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210155952"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yuqiang Wu","raw_affiliation_strings":["Qingdao Huanghai University, Qingdao, 266555, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Qingdao Huanghai University, Qingdao, 266555, China","institution_ids":["https://openalex.org/I4210155952"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5012826721"],"corresponding_institution_ids":["https://openalex.org/I4210155952"],"apc_list":{"value":3020,"currency":"USD","value_usd":3020},"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.45292085,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"202","issue":null,"first_page":"105493","last_page":"105493"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.6754999756813049,"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":0.6754999756813049,"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":0.10209999978542328,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.04340000078082085,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7160000205039978},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6521999835968018},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.6327000260353088},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5666000247001648},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5475000143051147},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.5087000131607056},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4302000105381012},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.38960000872612}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.845300018787384},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7160000205039978},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6521999835968018},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.6327000260353088},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5666000247001648},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5475000143051147},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.5087000131607056},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4302000105381012},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.38960000872612},{"id":"https://openalex.org/C2775862927","wikidata":"https://www.wikidata.org/wiki/Q7309766","display_name":"Rehabilitation robotics","level":3,"score":0.3749000132083893},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.37130001187324524},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.3628000020980835},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.36000001430511475},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.35100001096725464},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33239999413490295},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32659998536109924},{"id":"https://openalex.org/C2780365114","wikidata":"https://www.wikidata.org/wiki/Q169478","display_name":"MATLAB","level":2,"score":0.3237999975681305},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3197000026702881},{"id":"https://openalex.org/C2777210771","wikidata":"https://www.wikidata.org/wiki/Q4927124","display_name":"Block (permutation group theory)","level":2,"score":0.303600013256073},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.2924000024795532},{"id":"https://openalex.org/C24574437","wikidata":"https://www.wikidata.org/wiki/Q7135228","display_name":"Parametric model","level":3,"score":0.2867000102996826},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.260699987411499},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2506999969482422}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1016/j.robot.2026.105493","is_oa":false,"landing_page_url":"https://doi.org/10.1016/j.robot.2026.105493","pdf_url":null,"source":{"id":"https://openalex.org/S133768115","display_name":"Robotics and Autonomous Systems","issn_l":"0921-8890","issn":["0921-8890","1872-793X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics and Autonomous Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320324174","display_name":"Natural Science Foundation of Shandong Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1968502399","https://openalex.org/W2015003349","https://openalex.org/W2027986824","https://openalex.org/W2030978043","https://openalex.org/W2062205503","https://openalex.org/W2095623529","https://openalex.org/W2158918709","https://openalex.org/W2184517876","https://openalex.org/W2565474257","https://openalex.org/W2575887944","https://openalex.org/W2592386493","https://openalex.org/W2646260176","https://openalex.org/W2751897625","https://openalex.org/W2905770187","https://openalex.org/W2945821302","https://openalex.org/W3033485024","https://openalex.org/W3043489203","https://openalex.org/W3047980805","https://openalex.org/W3168768468","https://openalex.org/W4200444076","https://openalex.org/W4235118199","https://openalex.org/W4283165066","https://openalex.org/W4318755391","https://openalex.org/W4400256236","https://openalex.org/W4404117628","https://openalex.org/W4413253570"],"related_works":[],"abstract_inverted_index":null,"counts_by_year":[],"updated_date":"2026-06-15T08:34:33.830935","created_date":"2026-04-26T00:00:00"}
