{"id":"https://openalex.org/W4414487654","doi":"https://doi.org/10.1017/s0263574725102300","title":"Human\u2013machine coupling dynamics modeling and adaptive admittance control of lower limb rehabilitation robot","display_name":"Human\u2013machine coupling dynamics modeling and adaptive admittance control of lower limb rehabilitation robot","publication_year":2025,"publication_date":"2025-09-24","ids":{"openalex":"https://openalex.org/W4414487654","doi":"https://doi.org/10.1017/s0263574725102300"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574725102300","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574725102300","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","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":null,"display_name":"Chao Gao","orcid":null},"institutions":[{"id":"https://openalex.org/I184843921","display_name":"Hebei University of Technology","ror":"https://ror.org/018hded08","country_code":"CN","type":"education","lineage":["https://openalex.org/I184843921"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chao Gao","raw_affiliation_strings":["Hebei University of Technology","School of Mechanical Engineering, Hebei University of Technology, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hebei University of Technology","institution_ids":["https://openalex.org/I184843921"]},{"raw_affiliation_string":"School of Mechanical Engineering, Hebei University of Technology, Tianjin, China","institution_ids":["https://openalex.org/I184843921"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078277483","display_name":"Chang Wang","orcid":"https://orcid.org/0000-0003-0460-8390"},"institutions":[{"id":"https://openalex.org/I92403157","display_name":"University of Science and Technology Beijing","ror":"https://ror.org/02egmk993","country_code":"CN","type":"education","lineage":["https://openalex.org/I92403157"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chang Wang","raw_affiliation_strings":["University of Science and Technology Beijing","School of Mechanical Engineering, University of Science and Technology Beijing, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Science and Technology Beijing","institution_ids":["https://openalex.org/I92403157"]},{"raw_affiliation_string":"School of Mechanical Engineering, University of Science and Technology Beijing, Beijing, China","institution_ids":["https://openalex.org/I92403157"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Hui Li","orcid":"https://orcid.org/0009-0006-5673-3301"},"institutions":[{"id":"https://openalex.org/I92403157","display_name":"University of Science and Technology Beijing","ror":"https://ror.org/02egmk993","country_code":"CN","type":"education","lineage":["https://openalex.org/I92403157"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Hui Li","raw_affiliation_strings":["University of Science and Technology Beijing","School of Mechanical Engineering, University of Science and Technology Beijing, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0006-5673-3301","affiliations":[{"raw_affiliation_string":"University of Science and Technology Beijing","institution_ids":["https://openalex.org/I92403157"]},{"raw_affiliation_string":"School of Mechanical Engineering, University of Science and Technology Beijing, Beijing, China","institution_ids":["https://openalex.org/I92403157"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111711732","display_name":"Jianhua Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I184843921","display_name":"Hebei University of Technology","ror":"https://ror.org/018hded08","country_code":"CN","type":"education","lineage":["https://openalex.org/I184843921"]},{"id":"https://openalex.org/I92403157","display_name":"University of Science and Technology Beijing","ror":"https://ror.org/02egmk993","country_code":"CN","type":"education","lineage":["https://openalex.org/I92403157"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianhua Zhang","raw_affiliation_strings":["Hebei University of Technology","University of Science and Technology Beijing","School of Mechanical Engineering, University of Science and Technology Beijing, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hebei University of Technology","institution_ids":["https://openalex.org/I184843921"]},{"raw_affiliation_string":"University of Science and Technology Beijing","institution_ids":["https://openalex.org/I92403157"]},{"raw_affiliation_string":"School of Mechanical Engineering, University of Science and Technology Beijing, Beijing, China","institution_ids":["https://openalex.org/I92403157"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075000205","display_name":"Xinpeng Du","orcid":"https://orcid.org/0000-0002-4816-7227"},"institutions":[{"id":"https://openalex.org/I184843921","display_name":"Hebei University of Technology","ror":"https://ror.org/018hded08","country_code":"CN","type":"education","lineage":["https://openalex.org/I184843921"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinpeng Du","raw_affiliation_strings":["Hebei University of Technology","School of Mechanical Engineering, Hebei University of Technology, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hebei University of Technology","institution_ids":["https://openalex.org/I184843921"]},{"raw_affiliation_string":"School of Mechanical Engineering, Hebei University of Technology, Tianjin, China","institution_ids":["https://openalex.org/I184843921"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100358184","display_name":"Jianjun Zhang","orcid":"https://orcid.org/0000-0002-0332-4743"},"institutions":[{"id":"https://openalex.org/I184843921","display_name":"Hebei University of Technology","ror":"https://ror.org/018hded08","country_code":"CN","type":"education","lineage":["https://openalex.org/I184843921"]},{"id":"https://openalex.org/I92403157","display_name":"University of Science and Technology Beijing","ror":"https://ror.org/02egmk993","country_code":"CN","type":"education","lineage":["https://openalex.org/I92403157"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianjun Zhang","raw_affiliation_strings":["Hebei University of Technology","University of Science and Technology Beijing","School of Mechanical Engineering, Hebei University of Technology, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hebei University of Technology","institution_ids":["https://openalex.org/I184843921"]},{"raw_affiliation_string":"University of Science and Technology Beijing","institution_ids":["https://openalex.org/I92403157"]},{"raw_affiliation_string":"School of Mechanical Engineering, Hebei University of Technology, Tianjin, China","institution_ids":["https://openalex.org/I184843921"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I92403157"],"apc_list":null,"apc_paid":null,"fwci":0.8446,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.73641782,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":"43","issue":"10","first_page":"3419","last_page":"3441"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9993000030517578,"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":0.9993000030517578,"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":0.9941999912261963,"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":0.9932000041007996,"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/control-theory","display_name":"Control theory (sociology)","score":0.7423999905586243},{"id":"https://openalex.org/keywords/admittance","display_name":"Admittance","score":0.6419000029563904},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5964000225067139},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.5936999917030334},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5228999853134155},{"id":"https://openalex.org/keywords/coupling","display_name":"Coupling (piping)","score":0.4799000024795532},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.3955000042915344},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.39239999651908875}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7423999905586243},{"id":"https://openalex.org/C108811297","wikidata":"https://www.wikidata.org/wiki/Q214518","display_name":"Admittance","level":3,"score":0.6419000029563904},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5964000225067139},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.5936999917030334},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5706999897956848},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5228999853134155},{"id":"https://openalex.org/C131584629","wikidata":"https://www.wikidata.org/wiki/Q4308705","display_name":"Coupling (piping)","level":2,"score":0.4799000024795532},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.3955000042915344},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.39239999651908875},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.3901999890804291},{"id":"https://openalex.org/C2989316616","wikidata":"https://www.wikidata.org/wiki/Q6027402","display_name":"Lower limb","level":2,"score":0.3849000036716461},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.350600004196167},{"id":"https://openalex.org/C2775862927","wikidata":"https://www.wikidata.org/wiki/Q7309766","display_name":"Rehabilitation robotics","level":3,"score":0.34150001406669617},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34040001034736633},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.304500013589859},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3012999892234802},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.3010999858379364},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.2980000078678131},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.28790000081062317},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.28769999742507935},{"id":"https://openalex.org/C2778818304","wikidata":"https://www.wikidata.org/wiki/Q1819478","display_name":"Rehabilitation","level":2,"score":0.2842000126838684},{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.2833000123500824}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574725102300","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574725102300","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":57,"referenced_works":["https://openalex.org/W151481076","https://openalex.org/W1480865411","https://openalex.org/W1517060199","https://openalex.org/W1982291194","https://openalex.org/W2054468080","https://openalex.org/W2059545343","https://openalex.org/W2085412307","https://openalex.org/W2105236479","https://openalex.org/W2105601634","https://openalex.org/W2182339254","https://openalex.org/W2302739338","https://openalex.org/W2470342634","https://openalex.org/W2622126529","https://openalex.org/W2734866036","https://openalex.org/W2752322363","https://openalex.org/W2908949019","https://openalex.org/W2972362037","https://openalex.org/W3000749677","https://openalex.org/W3041903163","https://openalex.org/W3107239624","https://openalex.org/W3157127040","https://openalex.org/W3159137811","https://openalex.org/W3184725943","https://openalex.org/W4200546911","https://openalex.org/W4200626983","https://openalex.org/W4211003818","https://openalex.org/W4233639809","https://openalex.org/W4283576236","https://openalex.org/W4289544947","https://openalex.org/W4295992972","https://openalex.org/W4297491132","https://openalex.org/W4311846694","https://openalex.org/W4319866225","https://openalex.org/W4364365837","https://openalex.org/W4375844135","https://openalex.org/W4384820644","https://openalex.org/W4387578698","https://openalex.org/W4389094138","https://openalex.org/W4392168492","https://openalex.org/W4392817217","https://openalex.org/W4394675498","https://openalex.org/W4396775198","https://openalex.org/W4398226215","https://openalex.org/W4399666314","https://openalex.org/W4402028243","https://openalex.org/W4402520581","https://openalex.org/W4402608559","https://openalex.org/W4402610042","https://openalex.org/W4403197446","https://openalex.org/W4403469499","https://openalex.org/W4403948655","https://openalex.org/W4405520994","https://openalex.org/W4406114711","https://openalex.org/W4407437255","https://openalex.org/W4407782429","https://openalex.org/W4408575822","https://openalex.org/W4408705515"],"related_works":[],"abstract_inverted_index":{"Abstract":[0],"Human\u2013machine":[1],"compatibility":[2],"and":[3,27,33,51,58,155],"collaborative":[4],"control":[5,83,132,139],"for":[6,68],"stroke":[7],"patients":[8],"utilizing":[9],"lower":[10,60],"limb":[11,61],"rehabilitation":[12,70,100],"robots":[13],"have":[14],"attracted":[15],"considerable":[16],"research":[17],"attention.":[18],"As":[19],"a":[20,45,64],"highly":[21],"human\u2013machine-coupled":[22],"system,":[23],"ensuring":[24],"adequate":[25],"compliance":[26],"safety":[28],"is":[29,72,85,141,149,161],"fundamental":[30],"to":[31,94,111,116,119],"efficient":[32],"comfortable":[34],"rehabilitation.":[35],"Therefore,":[36],"this":[37],"paper":[38],"first":[39],"quantifies":[40],"human\u2013machine":[41,46,113,125,137,158],"contact":[42],"interactions,":[43],"proposes":[44],"coupling":[47],"dynamics":[48],"modeling":[49],"method,":[50],"identifies":[52],"the":[53,69,76,89,96,102,107,112,120,124,131,136,144,156],"robot\u2019s":[54],"dynamic":[55,121],"inertia":[56],"parameters":[57,109],"human":[59],"parameters.":[62],"Second,":[63],"dual":[65],"closed-loop":[66],"controller":[67,103],"robot":[71],"designed.":[73],"Based":[74],"on":[75],"bottom":[77],"position":[78],"control,":[79],"an":[80],"adaptive":[81,97],"admittance":[82,108],"algorithm":[84,93],"proposed":[86],"that":[87,135],"employs":[88],"root-mean-square":[90],"propagation":[91],"(RMSprop)":[92],"tune":[95],"gain.":[98],"In":[99],"training,":[101],"can":[104],"adaptively":[105],"adjust":[106],"according":[110],"interaction":[114,159],"force":[115,160],"achieve":[117],"responsiveness":[118],"changes":[122],"of":[123,130],"system.":[126],"The":[127],"experimental":[128],"results":[129],"system":[133],"show":[134],"cooperative":[138],"performance":[140],"significantly":[142],"improved,":[143],"maximum":[145,157],"joint":[146],"angle":[147],"error":[148],"reduced":[150,162],"by":[151,163],"more":[152,164],"than":[153,165],"40.9%,":[154],"19.4%.":[166]},"counts_by_year":[{"year":2026,"cited_by_count":2}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}