{"id":"https://openalex.org/W2952438375","doi":"https://doi.org/10.1108/ir-03-2018-0054","title":"Learning and planning of stair ascent for lower-limb exoskeleton systems","display_name":"Learning and planning of stair ascent for lower-limb exoskeleton systems","publication_year":2019,"publication_date":"2019-05-20","ids":{"openalex":"https://openalex.org/W2952438375","doi":"https://doi.org/10.1108/ir-03-2018-0054","mag":"2952438375"},"language":"en","primary_location":{"id":"doi:10.1108/ir-03-2018-0054","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-03-2018-0054","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: the international journal of robotics research and application","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/A5100644702","display_name":"Qiming Chen","orcid":"https://orcid.org/0000-0002-6745-6091"},"institutions":[{"id":"https://openalex.org/I150229711","display_name":"University of Electronic Science and Technology of China","ror":"https://ror.org/04qr3zq92","country_code":"CN","type":"education","lineage":["https://openalex.org/I150229711"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiming Chen","raw_affiliation_strings":["University of Electronic Science and Technology of China, Chengdu, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Electronic Science and Technology of China, Chengdu, China","institution_ids":["https://openalex.org/I150229711"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085614235","display_name":"Hong Cheng","orcid":"https://orcid.org/0000-0002-4943-9060"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hong Cheng","raw_affiliation_strings":["School of Automation School, Center for Robotics, Chengdu, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation School, Center for Robotics, Chengdu, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007231606","display_name":"Rui Huang","orcid":"https://orcid.org/0000-0001-7231-5042"},"institutions":[{"id":"https://openalex.org/I150229711","display_name":"University of Electronic Science and Technology of China","ror":"https://ror.org/04qr3zq92","country_code":"CN","type":"education","lineage":["https://openalex.org/I150229711"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rui Huang","raw_affiliation_strings":["School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu, China","institution_ids":["https://openalex.org/I150229711"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037708488","display_name":"Jing Qiu","orcid":"https://orcid.org/0000-0003-4393-4084"},"institutions":[{"id":"https://openalex.org/I150229711","display_name":"University of Electronic Science and Technology of China","ror":"https://ror.org/04qr3zq92","country_code":"CN","type":"education","lineage":["https://openalex.org/I150229711"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jing Qiu","raw_affiliation_strings":["University of Electronic Science and Technology of China, Chengdu, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Electronic Science and Technology of China, Chengdu, China","institution_ids":["https://openalex.org/I150229711"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100650706","display_name":"Xinhua Chen","orcid":"https://orcid.org/0000-0001-7976-3235"},"institutions":[{"id":"https://openalex.org/I150229711","display_name":"University of Electronic Science and Technology of China","ror":"https://ror.org/04qr3zq92","country_code":"CN","type":"education","lineage":["https://openalex.org/I150229711"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinhua Chen","raw_affiliation_strings":["University of Electronic Science and Technology of China, Chengdu, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Electronic Science and Technology of China, Chengdu, China","institution_ids":["https://openalex.org/I150229711"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.3872,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.58049804,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"46","issue":"3","first_page":"421","last_page":"430"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9929999709129333,"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":0.9890000224113464,"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":0.97685706615448},{"id":"https://openalex.org/keywords/stairs","display_name":"Stairs","score":0.6849178075790405},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.571054220199585},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49486392736434937},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.4919595420360565},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4917629063129425},{"id":"https://openalex.org/keywords/powered-exoskeleton","display_name":"Powered exoskeleton","score":0.47662651538848877},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.40960127115249634},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.18961650133132935}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.97685706615448},{"id":"https://openalex.org/C2777295749","wikidata":"https://www.wikidata.org/wiki/Q12511","display_name":"Stairs","level":2,"score":0.6849178075790405},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.571054220199585},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49486392736434937},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.4919595420360565},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4917629063129425},{"id":"https://openalex.org/C45391945","wikidata":"https://www.wikidata.org/wiki/Q938523","display_name":"Powered exoskeleton","level":3,"score":0.47662651538848877},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.40960127115249634},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.18961650133132935},{"id":"https://openalex.org/C147176958","wikidata":"https://www.wikidata.org/wiki/Q77590","display_name":"Civil engineering","level":1,"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/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1108/ir-03-2018-0054","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-03-2018-0054","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: the international journal of robotics research and application","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.699999988079071,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W1502922572","https://openalex.org/W1514313014","https://openalex.org/W1591657916","https://openalex.org/W1746819321","https://openalex.org/W1956237300","https://openalex.org/W1966948790","https://openalex.org/W1976606095","https://openalex.org/W1977692237","https://openalex.org/W1977929578","https://openalex.org/W1994005439","https://openalex.org/W1996907893","https://openalex.org/W2007864935","https://openalex.org/W2022401222","https://openalex.org/W2042308380","https://openalex.org/W2044143754","https://openalex.org/W2077411069","https://openalex.org/W2078763164","https://openalex.org/W2081254081","https://openalex.org/W2083322689","https://openalex.org/W2088088299","https://openalex.org/W2090656762","https://openalex.org/W2097410618","https://openalex.org/W2102159351","https://openalex.org/W2110304639","https://openalex.org/W2114645401","https://openalex.org/W2115076892","https://openalex.org/W2115817551","https://openalex.org/W2122409085","https://openalex.org/W2123950545","https://openalex.org/W2124709174","https://openalex.org/W2132558143","https://openalex.org/W2141382056","https://openalex.org/W2150776941","https://openalex.org/W2155307968","https://openalex.org/W2161395589","https://openalex.org/W2169051170","https://openalex.org/W2326141327","https://openalex.org/W2606953457","https://openalex.org/W4285719527"],"related_works":["https://openalex.org/W1989011507","https://openalex.org/W2908002960","https://openalex.org/W4386159943","https://openalex.org/W2808226217","https://openalex.org/W2015794229","https://openalex.org/W2893851384","https://openalex.org/W2062010076","https://openalex.org/W2780323031","https://openalex.org/W4388283394","https://openalex.org/W2120000215"],"abstract_inverted_index":{"Purpose":[0],"Lower-limb":[1],"exoskeleton":[2,39,76,97,129,185],"systems":[3,40],"enable":[4],"people":[5],"with":[6,25],"spinal":[7],"cord":[8],"injury":[9],"to":[10,23,32,41,43,71],"regain":[11],"some":[12],"degree":[13],"of":[14,80,101,160,167,174],"locomotion":[15,59],"ability,":[16],"as":[17,84],"the":[18,33,55,58,68,90,135,142,149,152,165,171,182],"expected":[19],"motion":[20],"curve":[21],"needs":[22],"adapt":[24,42],"changing":[26],"scenarios,":[27],"i.e.":[28],"stair":[29,47,187],"heights,":[30],"distance":[31],"stairs.":[34],"The":[35,115],"authors\u2019":[36],"approach":[37,91,110,117,137,150,183],"enables":[38,184],"different":[44,192],"scenarios":[45],"in":[46,88,120,191],"ascent":[48,188],"task":[49,173,189],"safely.":[50],"Design/methodology/approach":[51],"In":[52],"this":[53],"paper,":[54],"authors":[56],"learn":[57],"from":[60],"predefined":[61,144],"trajectories":[62,69],"and":[63,124,169],"walk":[64],"upstairs":[65],"by":[66,105,155],"re-planning":[67,87],"according":[70],"external":[72,153],"forces":[73,94,154],"posed":[74],"on":[75,96],"systems.":[77],"Moreover,":[78],"instead":[79],"using":[81],"complex":[82],"sensors":[83],"inputs":[85],"for":[86],"real-time,":[89],"can":[92],"obtain":[93,151],"acting":[95],"through":[98],"dynamic":[99,158],"model":[100,159],"human-exoskeleton":[102,161],"system":[103],"learned":[104,157],"an":[106],"online":[107],"machine":[108],"learning":[109],"without":[111],"accurate":[112],"parameters.":[113],"Findings":[114],"proposed":[116,136],"is":[118],"validated":[119],"both":[121],"simulation":[122],"environment":[123],"a":[125,156],"real":[126],"walking":[127],"assistance":[128],"system.":[130],"Experimental":[131],"results":[132],"prove":[133],"that":[134],"achieves":[138],"better":[139],"performance":[140],"than":[141],"traditional":[143],"gait":[145],"approach.":[146],"Originality/value":[147],"First,":[148],"system,":[162],"which":[163],"reduces":[164],"cost":[166],"exoskeletons":[168],"avoids":[170],"heavy":[172],"translating":[175],"sensor":[176],"input":[177],"into":[178],"actuator":[179],"output.":[180],"Second,":[181],"accomplish":[186],"safely":[190],"scenarios.":[193]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2020,"cited_by_count":2}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}