{"id":"https://openalex.org/W3005276695","doi":"https://doi.org/10.1109/access.2020.2971777","title":"Robust Repetitive Learning-Based Trajectory Tracking Control for a Leg Exoskeleton Driven by Hybrid Hydraulic System","display_name":"Robust Repetitive Learning-Based Trajectory Tracking Control for a Leg Exoskeleton Driven by Hybrid Hydraulic System","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3005276695","doi":"https://doi.org/10.1109/access.2020.2971777","mag":"3005276695"},"language":"en","primary_location":{"id":"doi:10.1109/access.2020.2971777","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2971777","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/08984320.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/08984320.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5031146697","display_name":"Yong Yang","orcid":"https://orcid.org/0000-0001-6368-4313"},"institutions":[{"id":"https://openalex.org/I102345215","display_name":"Xihua University","ror":"https://ror.org/04gwtvf26","country_code":"CN","type":"education","lineage":["https://openalex.org/I102345215"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yong Yang","raw_affiliation_strings":["School of Electrical Engineering and Electronic Information, Xihua University, Chengdu, China"],"raw_orcid":"https://orcid.org/0000-0001-6368-4313","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Electronic Information, Xihua University, Chengdu, China","institution_ids":["https://openalex.org/I102345215"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101801527","display_name":"Xiucheng Dong","orcid":"https://orcid.org/0000-0002-4676-8213"},"institutions":[{"id":"https://openalex.org/I102345215","display_name":"Xihua University","ror":"https://ror.org/04gwtvf26","country_code":"CN","type":"education","lineage":["https://openalex.org/I102345215"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiucheng Dong","raw_affiliation_strings":["School of Electrical Engineering and Electronic Information, Xihua University, Chengdu, China"],"raw_orcid":"https://orcid.org/0000-0002-4676-8213","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Electronic Information, Xihua University, Chengdu, China","institution_ids":["https://openalex.org/I102345215"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010673255","display_name":"Xia Liu","orcid":"https://orcid.org/0000-0001-7043-8495"},"institutions":[{"id":"https://openalex.org/I102345215","display_name":"Xihua University","ror":"https://ror.org/04gwtvf26","country_code":"CN","type":"education","lineage":["https://openalex.org/I102345215"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xia Liu","raw_affiliation_strings":["School of Electrical Engineering and Electronic Information, Xihua University, Chengdu, China"],"raw_orcid":"https://orcid.org/0000-0001-7043-8495","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Electronic Information, Xihua University, Chengdu, China","institution_ids":["https://openalex.org/I102345215"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032642266","display_name":"Deqing Huang","orcid":"https://orcid.org/0000-0002-8185-9030"},"institutions":[{"id":"https://openalex.org/I4800084","display_name":"Southwest Jiaotong University","ror":"https://ror.org/00hn7w693","country_code":"CN","type":"education","lineage":["https://openalex.org/I4800084"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Deqing Huang","raw_affiliation_strings":["School of Electrical Engineering, Southwest Jiaotong University, Chengdu, China"],"raw_orcid":"https://orcid.org/0000-0002-8185-9030","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Southwest Jiaotong University, Chengdu, China","institution_ids":["https://openalex.org/I4800084"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":1.0456,"has_fulltext":true,"cited_by_count":16,"citation_normalized_percentile":{"value":0.73428805,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"8","issue":null,"first_page":"27705","last_page":"27714"},"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/T10868","display_name":"Soft Robotics and Applications","score":0.9936000108718872,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.993399977684021,"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":0.8414791822433472},{"id":"https://openalex.org/keywords/electrohydraulic-servo-valve","display_name":"Electrohydraulic servo valve","score":0.7741589546203613},{"id":"https://openalex.org/keywords/hydraulic-machinery","display_name":"Hydraulic machinery","score":0.5890828371047974},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5702691674232483},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5325789451599121},{"id":"https://openalex.org/keywords/solenoid-valve","display_name":"Solenoid valve","score":0.495418906211853},{"id":"https://openalex.org/keywords/hydraulic-cylinder","display_name":"Hydraulic cylinder","score":0.4933139383792877},{"id":"https://openalex.org/keywords/powered-exoskeleton","display_name":"Powered exoskeleton","score":0.47671857476234436},{"id":"https://openalex.org/keywords/solenoid","display_name":"Solenoid","score":0.4680499732494354},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.44731929898262024},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.28119081258773804},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2806518077850342},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13821032643318176},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.12034717202186584},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09981533885002136},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09425750374794006}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.8414791822433472},{"id":"https://openalex.org/C139993351","wikidata":"https://www.wikidata.org/wiki/Q5358040","display_name":"Electrohydraulic servo valve","level":2,"score":0.7741589546203613},{"id":"https://openalex.org/C11394606","wikidata":"https://www.wikidata.org/wiki/Q1972552","display_name":"Hydraulic machinery","level":2,"score":0.5890828371047974},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5702691674232483},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5325789451599121},{"id":"https://openalex.org/C2777112803","wikidata":"https://www.wikidata.org/wiki/Q1430621","display_name":"Solenoid valve","level":2,"score":0.495418906211853},{"id":"https://openalex.org/C48431260","wikidata":"https://www.wikidata.org/wiki/Q2318337","display_name":"Hydraulic cylinder","level":2,"score":0.4933139383792877},{"id":"https://openalex.org/C45391945","wikidata":"https://www.wikidata.org/wiki/Q938523","display_name":"Powered exoskeleton","level":3,"score":0.47671857476234436},{"id":"https://openalex.org/C192144188","wikidata":"https://www.wikidata.org/wiki/Q245739","display_name":"Solenoid","level":2,"score":0.4680499732494354},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.44731929898262024},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.28119081258773804},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2806518077850342},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13821032643318176},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.12034717202186584},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09981533885002136},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09425750374794006},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2020.2971777","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2971777","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/08984320.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:d68776cbc9bd4e02a8ae66aa7da83632","is_oa":true,"landing_page_url":"https://doaj.org/article/d68776cbc9bd4e02a8ae66aa7da83632","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 8, Pp 27705-27714 (2020)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2020.2971777","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2971777","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/08984320.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.9100000262260437}],"awards":[{"id":"https://openalex.org/G2652087924","display_name":null,"funder_award_id":"Z2017076","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4679897899","display_name":null,"funder_award_id":"61773323","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6083224500","display_name":null,"funder_award_id":"2018JY0463","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7201091703","display_name":"\u57fa\u4e8e\u8367\u5149\u6cb9\u819c\u539a\u5ea6\u5728\u7ebf\u6807\u5b9a\u7684\u5168\u5c40\u6469\u963b\u6d4b\u91cf","funder_award_id":"11872069","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8807096638","display_name":null,"funder_award_id":"61973257","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3005276695.pdf","grobid_xml":"https://content.openalex.org/works/W3005276695.grobid-xml"},"referenced_works_count":56,"referenced_works":["https://openalex.org/W1481317283","https://openalex.org/W1482280401","https://openalex.org/W1575037797","https://openalex.org/W1587019244","https://openalex.org/W1977929578","https://openalex.org/W1996352642","https://openalex.org/W2005770762","https://openalex.org/W2008854159","https://openalex.org/W2011981337","https://openalex.org/W2014555411","https://openalex.org/W2015244452","https://openalex.org/W2029188366","https://openalex.org/W2033380545","https://openalex.org/W2034922363","https://openalex.org/W2038609344","https://openalex.org/W2041069066","https://openalex.org/W2047233831","https://openalex.org/W2049933349","https://openalex.org/W2056996588","https://openalex.org/W2103597466","https://openalex.org/W2104992636","https://openalex.org/W2108965296","https://openalex.org/W2114070480","https://openalex.org/W2114570024","https://openalex.org/W2118345938","https://openalex.org/W2118536165","https://openalex.org/W2121570671","https://openalex.org/W2123317424","https://openalex.org/W2123950545","https://openalex.org/W2128769006","https://openalex.org/W2134842458","https://openalex.org/W2138300314","https://openalex.org/W2140796543","https://openalex.org/W2144781570","https://openalex.org/W2151566726","https://openalex.org/W2158142396","https://openalex.org/W2162663412","https://openalex.org/W2166645794","https://openalex.org/W2166978470","https://openalex.org/W2169575066","https://openalex.org/W2326141327","https://openalex.org/W2330179402","https://openalex.org/W2330334953","https://openalex.org/W2541121566","https://openalex.org/W2560199319","https://openalex.org/W2592386493","https://openalex.org/W2752057039","https://openalex.org/W2783692297","https://openalex.org/W2787759601","https://openalex.org/W2895564045","https://openalex.org/W3022377941","https://openalex.org/W4236113979","https://openalex.org/W4253610656","https://openalex.org/W6649447341","https://openalex.org/W6677335569","https://openalex.org/W6679293039"],"related_works":["https://openalex.org/W1989011507","https://openalex.org/W2908002960","https://openalex.org/W2808226217","https://openalex.org/W2015794229","https://openalex.org/W2893851384","https://openalex.org/W2780323031","https://openalex.org/W2753647732","https://openalex.org/W4388283394","https://openalex.org/W2120000215","https://openalex.org/W2337090395"],"abstract_inverted_index":{"For":[0],"the":[1,46,58,63,71,75,80,92,96,103,110,119,124,127,132,138,154,162,171,175],"purpose":[2],"of":[3,7,48,174,184],"reducing":[4],"power":[5,172],"consumption":[6,173],"a":[8,15,23,28,83],"leg":[9,53,106,134,140],"exoskeleton":[10,133,164],"for":[11,95,118],"augmenting":[12],"human":[13,52,105,139],"performance,":[14],"novel":[16],"hybrid":[17],"hydraulic":[18,128,188],"system":[19,177],"(HHS)":[20],"which":[21],"includes":[22],"unidirectional":[24,59,97],"servo":[25,60,98],"valve":[26,31,61,66,121],"and":[27,34,54,62,74,108,153],"solenoid":[29,64,120],"on-off":[30,65,114],"is":[32,39,88,116,135,146,157,178],"excogitated,":[33],"its":[35],"energy":[36],"saving":[37],"control":[38,115,144,155],"studied":[40],"in":[41,70,109,126,148],"this":[42],"paper.":[43],"Inspired":[44],"by":[45,90,137],"varieties":[47],"contact":[49],"force":[50],"between":[51],"ground":[55],"during":[56],"walking,":[57],"are":[67],"only":[68],"activated":[69],"stance":[72,81],"phase":[73],"swing":[76,111],"phase,":[77,82,112],"respectively.":[78],"In":[79],"robust":[84],"repetitive":[85],"learning":[86],"scheme":[87],"presented":[89],"using":[91],"backstepping":[93],"technique":[94],"valve,":[99],"aiming":[100],"to":[101,122],"track":[102],"periodic":[104],"movement,":[107],"an":[113,149],"proposed":[117,143,176],"release":[123],"pressure":[125],"cylinder":[129],"so":[130],"that":[131,170,183],"bent":[136],"passively.":[141],"The":[142,166],"strategy":[145],"implemented":[147],"ARM-based":[150],"embedded":[151],"microprocessor":[152],"performance":[156],"verified":[158],"via":[159],"experiment":[160],"on":[161],"developed":[163],"robot.":[165],"experimental":[167],"results":[168],"show":[169],"almost":[179],"30%":[180],"less":[181],"than":[182],"systems":[185],"with":[186],"bidirectional":[187],"system.":[189]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}