{"id":"https://openalex.org/W2753389930","doi":"https://doi.org/10.1109/aim.2017.8013997","title":"Design and control of a pneumatic-driven biomimetic knee joint for biped robot","display_name":"Design and control of a pneumatic-driven biomimetic knee joint for biped robot","publication_year":2017,"publication_date":"2017-07-01","ids":{"openalex":"https://openalex.org/W2753389930","doi":"https://doi.org/10.1109/aim.2017.8013997","mag":"2753389930"},"language":"en","primary_location":{"id":"doi:10.1109/aim.2017.8013997","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2017.8013997","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5100621839","display_name":"Yixiang Liu","orcid":"https://orcid.org/0000-0002-6217-7093"},"institutions":[{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]},{"id":"https://openalex.org/I1324242722","display_name":"Shirley Ryan AbilityLab","ror":"https://ror.org/02ja0m249","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I1324242722"]},{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"Yixiang Liu","raw_affiliation_strings":["Department of Physical Medicine and Rehabilitation, Northwestern University, Chicago, IL, USA","Legs + Walking Lab, Shirley Ryan AbilityLab (formerly the Rehabilitation Institute of Chicago), Chicago, IL, USA","State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Physical Medicine and Rehabilitation, Northwestern University, Chicago, IL, USA","institution_ids":["https://openalex.org/I111979921"]},{"raw_affiliation_string":"Legs + Walking Lab, Shirley Ryan AbilityLab (formerly the Rehabilitation Institute of Chicago), Chicago, IL, USA","institution_ids":["https://openalex.org/I1324242722"]},{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043336501","display_name":"Xizhe Zang","orcid":"https://orcid.org/0000-0002-5124-3999"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xizhe Zang","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015340798","display_name":"Changle Li","orcid":"https://orcid.org/0000-0003-2568-8908"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Changle Li","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004106768","display_name":"Shuai Heng","orcid":"https://orcid.org/0000-0001-5329-1823"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuai Heng","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009207339","display_name":"Zhenkun Lin","orcid":"https://orcid.org/0000-0002-3533-0689"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenkun Lin","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069459810","display_name":"Jie Zhao","orcid":"https://orcid.org/0000-0002-6086-9387"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jie Zhao","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.514,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.80025334,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"46","issue":null,"first_page":"70","last_page":"75"},"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/T10879","display_name":"Robotic Locomotion and Control","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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9980999827384949,"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":0.7290247678756714},{"id":"https://openalex.org/keywords/pneumatic-artificial-muscles","display_name":"Pneumatic artificial muscles","score":0.6803439855575562},{"id":"https://openalex.org/keywords/knee-joint","display_name":"Knee Joint","score":0.6170284748077393},{"id":"https://openalex.org/keywords/cascade","display_name":"Cascade","score":0.5371798276901245},{"id":"https://openalex.org/keywords/artificial-muscle","display_name":"Artificial muscle","score":0.5366864204406738},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5038873553276062},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4922250807285309},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.46358299255371094},{"id":"https://openalex.org/keywords/hysteresis","display_name":"Hysteresis","score":0.44811421632766724},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3582901358604431},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.35060203075408936},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3371359705924988},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1832042634487152},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.13871601223945618},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1339034140110016},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.12108117341995239}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7290247678756714},{"id":"https://openalex.org/C2778313331","wikidata":"https://www.wikidata.org/wiki/Q2317989","display_name":"Pneumatic artificial muscles","level":4,"score":0.6803439855575562},{"id":"https://openalex.org/C2908736133","wikidata":"https://www.wikidata.org/wiki/Q37425","display_name":"Knee Joint","level":2,"score":0.6170284748077393},{"id":"https://openalex.org/C34146451","wikidata":"https://www.wikidata.org/wiki/Q5048094","display_name":"Cascade","level":2,"score":0.5371798276901245},{"id":"https://openalex.org/C196628372","wikidata":"https://www.wikidata.org/wiki/Q4801090","display_name":"Artificial muscle","level":3,"score":0.5366864204406738},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5038873553276062},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4922250807285309},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.46358299255371094},{"id":"https://openalex.org/C123299182","wikidata":"https://www.wikidata.org/wiki/Q190837","display_name":"Hysteresis","level":2,"score":0.44811421632766724},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3582901358604431},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.35060203075408936},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3371359705924988},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1832042634487152},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.13871601223945618},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1339034140110016},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.12108117341995239},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.0},{"id":"https://openalex.org/C42360764","wikidata":"https://www.wikidata.org/wiki/Q83588","display_name":"Chemical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/aim.2017.8013997","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2017.8013997","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-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/F4320322725","display_name":"China Scholarship Council","ror":"https://ror.org/04atp4p48"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W189187075","https://openalex.org/W1000279381","https://openalex.org/W1514128053","https://openalex.org/W1539256618","https://openalex.org/W1625884657","https://openalex.org/W1717347309","https://openalex.org/W1966538400","https://openalex.org/W1975720725","https://openalex.org/W1996385583","https://openalex.org/W2000875278","https://openalex.org/W2009351479","https://openalex.org/W2054760718","https://openalex.org/W2079170585","https://openalex.org/W2080188165","https://openalex.org/W2084694071","https://openalex.org/W2107632757","https://openalex.org/W2116316610","https://openalex.org/W2119967028","https://openalex.org/W2157796157","https://openalex.org/W2158730335","https://openalex.org/W2208576078","https://openalex.org/W2551475678","https://openalex.org/W2564069747","https://openalex.org/W2585180702","https://openalex.org/W3143549859","https://openalex.org/W4300612914","https://openalex.org/W6632105829"],"related_works":["https://openalex.org/W2162848954","https://openalex.org/W91770536","https://openalex.org/W2020912483","https://openalex.org/W2742397931","https://openalex.org/W2360194697","https://openalex.org/W2131445915","https://openalex.org/W1573724835","https://openalex.org/W2066967876","https://openalex.org/W4239148269","https://openalex.org/W2808757576"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"the":[3,28,31,65,73,92,96,99,128,138],"design":[4],"and":[5,63,134],"control":[6,135],"of":[7,30,49,56,68,98,137],"a":[8,76,106,117],"biomimetic":[9],"knee":[10,17,41,129,139],"joint":[11,18,42,44,57,140],"for":[12,127],"biped":[13],"robots.":[14],"The":[15,131],"robotic":[16],"driven":[19],"by":[20,26,105,143],"pneumatic":[21,69],"artificial":[22,70],"muscles":[23,71],"is":[24,86,102,125],"designed":[25],"imitating":[27],"structure":[29,133],"human":[32,40],"knee.":[33],"It":[34],"has":[35,111],"desirable":[36],"characteristics":[37],"similar":[38],"with":[39,121],"including":[43],"compliance,":[45],"changeable":[46],"instantaneous":[47],"center":[48],"rotation,":[50],"as":[51,53,80],"well":[52],"large":[54],"range":[55],"motion.":[58],"In":[59],"order":[60],"to":[61],"model":[62,109],"compensate":[64],"length/pressure":[66,100],"hysteresis":[67,83,94,101,123],"in":[72],"position":[74,119],"control,":[75],"novel":[77],"method":[78],"termed":[79],"direct":[81],"inverse":[82],"modeling":[84],"approach":[85],"introduced.":[87],"Other":[88],"than":[89],"deriving":[90],"from":[91],"forward":[93,122],"model,":[95],"inversion":[97],"directly":[103],"modeled":[104],"modified":[107],"Prandtl-Ishlinskii":[108],"which":[110],"two":[112],"newly-designed":[113],"play":[114],"operators.":[115],"Then":[116],"cascade":[118],"controller":[120],"compensation":[124],"proposed":[126],"joint.":[130],"mechanical":[132],"scheme":[136],"are":[141],"validated":[142],"experiments.":[144]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}