{"id":"https://openalex.org/W3107035921","doi":"https://doi.org/10.1109/access.2020.3039983","title":"Joint Torque Closed-Loop Estimation Using NARX Neural Network Based on sEMG Signals","display_name":"Joint Torque Closed-Loop Estimation Using NARX Neural Network Based on sEMG Signals","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3107035921","doi":"https://doi.org/10.1109/access.2020.3039983","mag":"3107035921"},"language":"en","primary_location":{"id":"doi:10.1109/access.2020.3039983","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3039983","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09268054.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/ielx7/6287639/6514899/09268054.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100723636","display_name":"Yurong Li","orcid":"https://orcid.org/0000-0001-5819-7895"},"institutions":[{"id":"https://openalex.org/I80947539","display_name":"Fuzhou University","ror":"https://ror.org/011xvna82","country_code":"CN","type":"education","lineage":["https://openalex.org/I80947539"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yurong Li","raw_affiliation_strings":["College of Electrical Engineering and Automation, Fuzhou University, Fuzhou, China","Fujian Key Laboratory of Medical Instrumentation and Pharmaceutical Technology, Fuzhou University, Fuzhou, China"],"affiliations":[{"raw_affiliation_string":"College of Electrical Engineering and Automation, Fuzhou University, Fuzhou, China","institution_ids":["https://openalex.org/I80947539"]},{"raw_affiliation_string":"Fujian Key Laboratory of Medical Instrumentation and Pharmaceutical Technology, Fuzhou University, Fuzhou, China","institution_ids":["https://openalex.org/I80947539"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100771957","display_name":"Wenxin Chen","orcid":"https://orcid.org/0000-0003-4349-9115"},"institutions":[{"id":"https://openalex.org/I80947539","display_name":"Fuzhou University","ror":"https://ror.org/011xvna82","country_code":"CN","type":"education","lineage":["https://openalex.org/I80947539"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenxin Chen","raw_affiliation_strings":["College of Electrical Engineering and Automation, Fuzhou University, Fuzhou, China","Fujian Key Laboratory of Medical Instrumentation and Pharmaceutical Technology, Fuzhou University, Fuzhou, China"],"affiliations":[{"raw_affiliation_string":"College of Electrical Engineering and Automation, Fuzhou University, Fuzhou, China","institution_ids":["https://openalex.org/I80947539"]},{"raw_affiliation_string":"Fujian Key Laboratory of Medical Instrumentation and Pharmaceutical Technology, Fuzhou University, Fuzhou, China","institution_ids":["https://openalex.org/I80947539"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101662206","display_name":"Hao Yang","orcid":"https://orcid.org/0000-0003-0642-8000"},"institutions":[{"id":"https://openalex.org/I80947539","display_name":"Fuzhou University","ror":"https://ror.org/011xvna82","country_code":"CN","type":"education","lineage":["https://openalex.org/I80947539"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Yang","raw_affiliation_strings":["College of Electrical Engineering and Automation, Fuzhou University, Fuzhou, China","Fujian Key Laboratory of Medical Instrumentation and Pharmaceutical Technology, Fuzhou University, Fuzhou, China"],"affiliations":[{"raw_affiliation_string":"College of Electrical Engineering and Automation, Fuzhou University, Fuzhou, China","institution_ids":["https://openalex.org/I80947539"]},{"raw_affiliation_string":"Fujian Key Laboratory of Medical Instrumentation and Pharmaceutical Technology, Fuzhou University, Fuzhou, China","institution_ids":["https://openalex.org/I80947539"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101688120","display_name":"Jixiang Li","orcid":null},"institutions":[{"id":"https://openalex.org/I80947539","display_name":"Fuzhou University","ror":"https://ror.org/011xvna82","country_code":"CN","type":"education","lineage":["https://openalex.org/I80947539"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jixiang Li","raw_affiliation_strings":["College of Electrical Engineering and Automation, Fuzhou University, Fuzhou, China","Fujian Key Laboratory of Medical Instrumentation and Pharmaceutical Technology, Fuzhou University, Fuzhou, China"],"affiliations":[{"raw_affiliation_string":"College of Electrical Engineering and Automation, Fuzhou University, Fuzhou, China","institution_ids":["https://openalex.org/I80947539"]},{"raw_affiliation_string":"Fujian Key Laboratory of Medical Instrumentation and Pharmaceutical Technology, Fuzhou University, Fuzhou, China","institution_ids":["https://openalex.org/I80947539"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101783415","display_name":"Nan Zheng","orcid":"https://orcid.org/0000-0001-7091-9854"},"institutions":[{"id":"https://openalex.org/I80947539","display_name":"Fuzhou University","ror":"https://ror.org/011xvna82","country_code":"CN","type":"education","lineage":["https://openalex.org/I80947539"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Nan Zheng","raw_affiliation_strings":["College of Electrical Engineering and Automation, Fuzhou University, Fuzhou, China","Fujian Key Laboratory of Medical Instrumentation and Pharmaceutical Technology, Fuzhou University, Fuzhou, China"],"affiliations":[{"raw_affiliation_string":"College of Electrical Engineering and Automation, Fuzhou University, Fuzhou, China","institution_ids":["https://openalex.org/I80947539"]},{"raw_affiliation_string":"Fujian Key Laboratory of Medical Instrumentation and Pharmaceutical Technology, Fuzhou University, Fuzhou, China","institution_ids":["https://openalex.org/I80947539"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5100723636"],"corresponding_institution_ids":["https://openalex.org/I80947539"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.5225,"has_fulltext":true,"cited_by_count":13,"citation_normalized_percentile":{"value":0.62400304,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"8","issue":null,"first_page":"213636","last_page":"213646"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9998000264167786,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9998000264167786,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.989799976348877,"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/T10429","display_name":"EEG and Brain-Computer Interfaces","score":0.9728999733924866,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7514766454696655},{"id":"https://openalex.org/keywords/nonlinear-autoregressive-exogenous-model","display_name":"Nonlinear autoregressive exogenous model","score":0.688284695148468},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6401256322860718},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6194890141487122},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5822997093200684},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.5570526719093323},{"id":"https://openalex.org/keywords/autoregressive-model","display_name":"Autoregressive model","score":0.5134214162826538},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.40788862109184265},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36533817648887634},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2460860013961792},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.10248038172721863},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0907171368598938}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7514766454696655},{"id":"https://openalex.org/C42536954","wikidata":"https://www.wikidata.org/wiki/Q7049462","display_name":"Nonlinear autoregressive exogenous model","level":3,"score":0.688284695148468},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6401256322860718},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6194890141487122},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5822997093200684},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.5570526719093323},{"id":"https://openalex.org/C159877910","wikidata":"https://www.wikidata.org/wiki/Q2202883","display_name":"Autoregressive model","level":2,"score":0.5134214162826538},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.40788862109184265},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36533817648887634},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2460860013961792},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.10248038172721863},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0907171368598938},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2020.3039983","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3039983","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09268054.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:980b83a1992b47709b41967cebf817de","is_oa":true,"landing_page_url":"https://doaj.org/article/980b83a1992b47709b41967cebf817de","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"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 213636-213646 (2020)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2020.3039983","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3039983","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09268054.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":[{"display_name":"Good health and well-being","score":0.4399999976158142,"id":"https://metadata.un.org/sdg/3"}],"awards":[{"id":"https://openalex.org/G1231421488","display_name":null,"funder_award_id":"under","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2087396116","display_name":null,"funder_award_id":"China","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3317480652","display_name":null,"funder_award_id":"Science","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6457605447","display_name":null,"funder_award_id":"2019J01544","funder_id":"https://openalex.org/F4320321878","funder_display_name":"Natural Science Foundation of Fujian Province"},{"id":"https://openalex.org/G7062604232","display_name":null,"funder_award_id":"61773124","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"},{"id":"https://openalex.org/F4320321878","display_name":"Natural Science Foundation of Fujian Province","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3107035921.pdf","grobid_xml":"https://content.openalex.org/works/W3107035921.grobid-xml"},"referenced_works_count":37,"referenced_works":["https://openalex.org/W43585164","https://openalex.org/W574196890","https://openalex.org/W1549114171","https://openalex.org/W1975424366","https://openalex.org/W2006749861","https://openalex.org/W2017226208","https://openalex.org/W2039041360","https://openalex.org/W2040322315","https://openalex.org/W2058680317","https://openalex.org/W2091139114","https://openalex.org/W2135270981","https://openalex.org/W2142114107","https://openalex.org/W2146117110","https://openalex.org/W2157635145","https://openalex.org/W2157780858","https://openalex.org/W2162438232","https://openalex.org/W2340109313","https://openalex.org/W2527004428","https://openalex.org/W2561333432","https://openalex.org/W2567470251","https://openalex.org/W2609675074","https://openalex.org/W2641489833","https://openalex.org/W2734878628","https://openalex.org/W2747523765","https://openalex.org/W2752102639","https://openalex.org/W2755102282","https://openalex.org/W2913705661","https://openalex.org/W2962879438","https://openalex.org/W2963452480","https://openalex.org/W2973392605","https://openalex.org/W3007817225","https://openalex.org/W3017470925","https://openalex.org/W4240172095","https://openalex.org/W4254688865","https://openalex.org/W6601793179","https://openalex.org/W6632872799","https://openalex.org/W6703738257"],"related_works":["https://openalex.org/W2606910468","https://openalex.org/W3116827148","https://openalex.org/W3120843198","https://openalex.org/W2154965898","https://openalex.org/W2036704594","https://openalex.org/W4226315710","https://openalex.org/W3083782034","https://openalex.org/W4287185323","https://openalex.org/W2117809914","https://openalex.org/W2995801509"],"abstract_inverted_index":{"Joint":[0],"torque":[1,25,51,67,80,130,246,263],"estimation":[2,26,52,81,235],"is":[3,57,72,108,187],"of":[4,13,37,66,115,125,146,165,171,193,236,261],"great":[5],"significance":[6],"for":[7,23,49],"the":[8,34,63,92,99,103,112,116,123,126,153,162,191,194,241,244,248,254,259],"research":[9],"and":[10,86,168,177,183,213,229,257],"clinical":[11],"application":[12],"intelligent":[14],"rehabilitation":[15],"technology.":[16],"This":[17],"paper":[18],"proposes":[19],"a":[20,40,69,88],"closed-loop":[21,113,128,166,224],"model":[22,48,82,85,90,167,196,225,250],"joint":[24,50,95,129,139,237,262],"based":[27,53,79],"on":[28,54],"surface":[29],"electromyography":[30],"(sEMG).":[31],"Combined":[32],"with":[33,43],"physiological":[35],"characteristics":[36],"muscle":[38],"activation,":[39],"nonlinear":[41],"autoregressive":[42],"eXogenous":[44],"inputs(NARX)":[45],"neural":[46,77],"network":[47,78],"sEMG":[55],"signals":[56],"established.":[58],"In":[59,119],"order":[60,120],"to":[61,110,121,136,232],"solve":[62],"drift":[64],"phenomenon":[65],"estimation,":[68,131],"state-space":[70,101],"framework":[71],"constructed":[73],"by":[74,91],"regarding":[75],"NARX":[76],"as":[83],"state":[84],"developing":[87],"measurement":[89,169],"easily":[93],"measured":[94],"angle":[96],"signals.":[97],"With":[98],"built":[100],"model,":[102],"extended":[104],"Kalman":[105],"filter":[106],"(EKF)":[107],"used":[109],"realize":[111],"filtering":[114,231],"estimated":[117,163,245],"torque.":[118],"test":[122,149],"accuracy":[124,260],"proposed":[127],"8":[132],"volunteers":[133],"were":[134],"recruited":[135],"perform":[137],"elbow":[138],"isotonic":[140],"motion":[141],"experiments":[142],"under":[143,174],"four":[144],"kinds":[145],"loads.":[147],"The":[148,222],"results":[150,192],"show":[151],"that":[152,243],"average":[154],"normalized":[155],"root":[156],"mean":[157],"square":[158],"error":[159],"(NRMSE)":[160],"between":[161],"values":[164,170,256],"all":[172],"subjects":[173],"load-dependent,":[175],"multi-load":[176],"load-independent":[178],"tests":[179],"are":[180],"0.1080\u00b10.0411,":[181],"0.1326\u00b10.0494":[182],"0.1674\u00b10.0661":[184],"respectively,":[185],"which":[186,239],"significant":[188],"better":[189],"than":[190],"open-loop":[195,249],"(0.2694\u00b10.1584":[197],"(p":[198,206,215],"<;":[199,207,216],"10":[200,208,217],"<sup":[201,209,218],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[202,210,219],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">-6</sup>":[203,211],"),":[204],"0.2499\u00b10.1326":[205],")":[212],"0.3435\u00b10.2061":[214],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">-4</sup>":[220],")).":[221],"presented":[223],"combines":[226],"offline":[227],"modeling":[228],"online":[230,234],"achieve":[233],"torque,":[238],"ameliorates":[240],"problem":[242],"in":[247],"deviates":[251],"greatly":[252],"from":[253],"actual":[255],"improves":[258],"estimation.":[264]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":2}],"updated_date":"2026-04-13T07:58:08.660418","created_date":"2025-10-10T00:00:00"}
