{"id":"https://openalex.org/W2018951066","doi":"https://doi.org/10.1109/amc.2014.6823323","title":"Power assistance of an omnidirectional hybrid walker and wheelchair with admittance model and Iterative Learning Control","display_name":"Power assistance of an omnidirectional hybrid walker and wheelchair with admittance model and Iterative Learning Control","publication_year":2014,"publication_date":"2014-03-01","ids":{"openalex":"https://openalex.org/W2018951066","doi":"https://doi.org/10.1109/amc.2014.6823323","mag":"2018951066"},"language":"en","primary_location":{"id":"doi:10.1109/amc.2014.6823323","is_oa":false,"landing_page_url":"https://doi.org/10.1109/amc.2014.6823323","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE 13th International Workshop on Advanced Motion Control (AMC)","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/A5052514144","display_name":"Toshikatsu Suzuki","orcid":null},"institutions":[{"id":"https://openalex.org/I153470267","display_name":"Maebashi Institute of Technology","ror":"https://ror.org/01x05rm94","country_code":"JP","type":"education","lineage":["https://openalex.org/I153470267"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Toshikatsu Suzuki","raw_affiliation_strings":["Department of Systems Life Engineering, Maebashi Institute of Technology, Maebashi, Gunma, Japan","Dept. of Systems Life Engineering, Maebashi Institute of Technology, Kamisadori 460-1, Gunma, 371-0816, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Systems Life Engineering, Maebashi Institute of Technology, Maebashi, Gunma, Japan","institution_ids":["https://openalex.org/I153470267"]},{"raw_affiliation_string":"Dept. of Systems Life Engineering, Maebashi Institute of Technology, Kamisadori 460-1, Gunma, 371-0816, Japan","institution_ids":["https://openalex.org/I153470267"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112316964","display_name":"Chi Zhu","orcid":null},"institutions":[{"id":"https://openalex.org/I153470267","display_name":"Maebashi Institute of Technology","ror":"https://ror.org/01x05rm94","country_code":"JP","type":"education","lineage":["https://openalex.org/I153470267"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Chi Zhu","raw_affiliation_strings":["Department of Systems Life Engineering, Maebashi Institute of Technology, Maebashi, Gunma, Japan","Dept. of Systems Life Engineering, Maebashi Institute of Technology, Kamisadori 460-1, Gunma, 371-0816, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Systems Life Engineering, Maebashi Institute of Technology, Maebashi, Gunma, Japan","institution_ids":["https://openalex.org/I153470267"]},{"raw_affiliation_string":"Dept. of Systems Life Engineering, Maebashi Institute of Technology, Kamisadori 460-1, Gunma, 371-0816, Japan","institution_ids":["https://openalex.org/I153470267"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067840401","display_name":"Toshitaka Sakai","orcid":"https://orcid.org/0000-0002-7450-8478"},"institutions":[{"id":"https://openalex.org/I153470267","display_name":"Maebashi Institute of Technology","ror":"https://ror.org/01x05rm94","country_code":"JP","type":"education","lineage":["https://openalex.org/I153470267"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Toshitaka Sakai","raw_affiliation_strings":["Department of Systems Life Engineering, Maebashi Institute of Technology, Maebashi, Gunma, Japan","Dept. of Systems Life Engineering, Maebashi Institute of Technology, Kamisadori 460-1, Gunma, 371-0816, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Systems Life Engineering, Maebashi Institute of Technology, Maebashi, Gunma, Japan","institution_ids":["https://openalex.org/I153470267"]},{"raw_affiliation_string":"Dept. of Systems Life Engineering, Maebashi Institute of Technology, Kamisadori 460-1, Gunma, 371-0816, Japan","institution_ids":["https://openalex.org/I153470267"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112209806","display_name":"Yuji Okada","orcid":null},"institutions":[{"id":"https://openalex.org/I153470267","display_name":"Maebashi Institute of Technology","ror":"https://ror.org/01x05rm94","country_code":"JP","type":"education","lineage":["https://openalex.org/I153470267"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yuji Okada","raw_affiliation_strings":["Department of Systems Life Engineering, Maebashi Institute of Technology, Maebashi, Gunma, Japan","Dept. of Systems Life Engineering, Maebashi Institute of Technology, Kamisadori 460-1, Gunma, 371-0816, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Systems Life Engineering, Maebashi Institute of Technology, Maebashi, Gunma, Japan","institution_ids":["https://openalex.org/I153470267"]},{"raw_affiliation_string":"Dept. of Systems Life Engineering, Maebashi Institute of Technology, Kamisadori 460-1, Gunma, 371-0816, Japan","institution_ids":["https://openalex.org/I153470267"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039236080","display_name":"Yuichiro Yoshikawa","orcid":"https://orcid.org/0000-0002-3484-0361"},"institutions":[{"id":"https://openalex.org/I153470267","display_name":"Maebashi Institute of Technology","ror":"https://ror.org/01x05rm94","country_code":"JP","type":"education","lineage":["https://openalex.org/I153470267"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yuichiro Yoshikawa","raw_affiliation_strings":["Department of Systems Life Engineering, Maebashi Institute of Technology, Maebashi, Gunma, Japan","Dept. of Systems Life Engineering, Maebashi Institute of Technology, Kamisadori 460-1, Gunma, 371-0816, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Systems Life Engineering, Maebashi Institute of Technology, Maebashi, Gunma, Japan","institution_ids":["https://openalex.org/I153470267"]},{"raw_affiliation_string":"Dept. of Systems Life Engineering, Maebashi Institute of Technology, Kamisadori 460-1, Gunma, 371-0816, Japan","institution_ids":["https://openalex.org/I153470267"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049553539","display_name":"Masataka Yoshioka","orcid":null},"institutions":[{"id":"https://openalex.org/I153470267","display_name":"Maebashi Institute of Technology","ror":"https://ror.org/01x05rm94","country_code":"JP","type":"education","lineage":["https://openalex.org/I153470267"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masataka Yoshioka","raw_affiliation_strings":["Department of Systems Life Engineering, Maebashi Institute of Technology, Maebashi, Gunma, Japan","Dept. of Systems Life Engineering, Maebashi Institute of Technology, Kamisadori 460-1, Gunma, 371-0816, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Systems Life Engineering, Maebashi Institute of Technology, Maebashi, Gunma, Japan","institution_ids":["https://openalex.org/I153470267"]},{"raw_affiliation_string":"Dept. of Systems Life Engineering, Maebashi Institute of Technology, Kamisadori 460-1, Gunma, 371-0816, Japan","institution_ids":["https://openalex.org/I153470267"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114723617","display_name":"Yuling Yan","orcid":"https://orcid.org/0000-0002-8104-4624"},"institutions":[{"id":"https://openalex.org/I16269868","display_name":"Santa Clara University","ror":"https://ror.org/03ypqe447","country_code":"US","type":"education","lineage":["https://openalex.org/I16269868"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yuling Yan","raw_affiliation_strings":["The School of Engineering, Santa Clara University, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The School of Engineering, Santa Clara University, CA, USA","institution_ids":["https://openalex.org/I16269868"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100383575","display_name":"Haoyong Yu","orcid":"https://orcid.org/0000-0002-9876-4863"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Haoyong Yu","raw_affiliation_strings":["Bioengineering Division, National University of Singapore","Bioengineering Division, Faculty of Engineering, National University of Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Bioengineering Division, National University of Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Bioengineering Division, Faculty of Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015883801","display_name":"Feng Duan","orcid":"https://orcid.org/0000-0002-2179-2460"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Feng Duan","raw_affiliation_strings":["Department of Automation, Nankai University, Tianjin, China","[Department of Automation, College of Information Technical Science, Nankai University, Tianjin, China]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Automation, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]},{"raw_affiliation_string":"[Department of Automation, College of Information Technical Science, Nankai University, Tianjin, China]","institution_ids":["https://openalex.org/I205237279"]}]}],"institutions":[],"countries_distinct_count":4,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"446","last_page":"451"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11707","display_name":"Gaze Tracking and Assistive Technology","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11707","display_name":"Gaze Tracking and Assistive Technology","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9983000159263611,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9980999827384949,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/wheelchair","display_name":"Wheelchair","score":0.7975030541419983},{"id":"https://openalex.org/keywords/iterative-learning-control","display_name":"Iterative learning control","score":0.7433681488037109},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6899259686470032},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.6039961576461792},{"id":"https://openalex.org/keywords/omnidirectional-antenna","display_name":"Omnidirectional antenna","score":0.5964351892471313},{"id":"https://openalex.org/keywords/admittance","display_name":"Admittance","score":0.593835175037384},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5929865837097168},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.5677404999732971},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5179601907730103},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4394160807132721},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.43676021695137024},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3701871633529663},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33656632900238037},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2620106041431427},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10945945978164673},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08587697148323059}],"concepts":[{"id":"https://openalex.org/C2781042323","wikidata":"https://www.wikidata.org/wiki/Q191931","display_name":"Wheelchair","level":2,"score":0.7975030541419983},{"id":"https://openalex.org/C117619785","wikidata":"https://www.wikidata.org/wiki/Q6094414","display_name":"Iterative learning control","level":3,"score":0.7433681488037109},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6899259686470032},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.6039961576461792},{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.5964351892471313},{"id":"https://openalex.org/C108811297","wikidata":"https://www.wikidata.org/wiki/Q214518","display_name":"Admittance","level":3,"score":0.593835175037384},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5929865837097168},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.5677404999732971},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5179601907730103},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4394160807132721},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.43676021695137024},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3701871633529663},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33656632900238037},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2620106041431427},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10945945978164673},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08587697148323059},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C136764020","wikidata":"https://www.wikidata.org/wiki/Q466","display_name":"World Wide Web","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/amc.2014.6823323","is_oa":false,"landing_page_url":"https://doi.org/10.1109/amc.2014.6823323","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE 13th International Workshop on Advanced Motion Control (AMC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1763775273","https://openalex.org/W2010561502","https://openalex.org/W2013844227","https://openalex.org/W2102412653","https://openalex.org/W2105605199","https://openalex.org/W2120123095","https://openalex.org/W2140427560","https://openalex.org/W2144863306","https://openalex.org/W2147451623","https://openalex.org/W2553189081","https://openalex.org/W6678223874","https://openalex.org/W6729792426"],"related_works":["https://openalex.org/W4378364071","https://openalex.org/W2399287283","https://openalex.org/W1998563140","https://openalex.org/W2742303892","https://openalex.org/W2724219770","https://openalex.org/W2076341217","https://openalex.org/W2065035327","https://openalex.org/W2718635042","https://openalex.org/W1975017672","https://openalex.org/W2564554735"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"at":[3],"first":[4],"we":[5,19,74],"briefly":[6],"present":[7],"an":[8],"overview":[9],"of":[10,25,95],"our":[11],"developed":[12],"hybrid":[13],"walker":[14],"and":[15,23,37,45,79],"wheelchair":[16],"robot.":[17],"Then":[18],"focus":[20],"on":[21,70],"analysis":[22],"investigation":[24],"the":[26,30,41,46,57,65,68,87,93,96],"movement":[27],"in":[28,53],"which":[29],"robot":[31,69],"starts":[32],"to":[33,55,84],"ascend/descend":[34],"a":[35,60,71],"slope,":[36],"point":[38],"out":[39],"that":[40],"user's":[42],"walking":[43],"velocity":[44,48],"robot's":[47],"are":[49],"inevitably":[50],"different.":[51],"Further,":[52],"order":[54],"let":[56],"user":[58,66],"get":[59],"smooth":[61],"load":[62],"feeling":[63],"as":[64],"use":[67],"horizontal":[72],"plane,":[73],"propose":[75],"V.C":[76],"(Velocity":[77],"Compensation)":[78],"ILC":[80],"(Iterative":[81],"Learning":[82],"Control)":[83],"adaptively":[85],"adjust":[86],"control":[88],"parameter.":[89],"The":[90],"experiments":[91],"verify":[92],"effectiveness":[94],"proposed":[97],"approaches.":[98]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2017,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
