{"id":"https://openalex.org/W2089230106","doi":"https://doi.org/10.1109/biorob.2014.6913850","title":"MLPNN adaptive controller based on a reference model to drive an actuated lower limb orthosis","display_name":"MLPNN adaptive controller based on a reference model to drive an actuated lower limb orthosis","publication_year":2014,"publication_date":"2014-08-01","ids":{"openalex":"https://openalex.org/W2089230106","doi":"https://doi.org/10.1109/biorob.2014.6913850","mag":"2089230106"},"language":"en","primary_location":{"id":"doi:10.1109/biorob.2014.6913850","is_oa":false,"landing_page_url":"https://doi.org/10.1109/biorob.2014.6913850","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics","raw_type":"proceedings-article"},"type":"preprint","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/A5044161230","display_name":"Boubaker Da\u00e2chi","orcid":"https://orcid.org/0000-0002-8910-517X"},"institutions":[{"id":"https://openalex.org/I197681013","display_name":"Universit\u00e9 Paris-Est Cr\u00e9teil","ror":"https://ror.org/05ggc9x40","country_code":"FR","type":"education","lineage":["https://openalex.org/I197681013"]},{"id":"https://openalex.org/I2800365227","display_name":"Paris-Est Sup","ror":"https://ror.org/0268ecp52","country_code":"FR","type":"education","lineage":["https://openalex.org/I2800365227"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"B. Daachi","raw_affiliation_strings":["Laboratoire Signaux, Images et Syst\u00e8mes Intelligents, University of Paris Est Cr\u00e9teil, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratoire Signaux, Images et Syst\u00e8mes Intelligents, University of Paris Est Cr\u00e9teil, France","institution_ids":["https://openalex.org/I2800365227","https://openalex.org/I197681013"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051634564","display_name":"T. Madani","orcid":"https://orcid.org/0000-0002-1122-1656"},"institutions":[{"id":"https://openalex.org/I197681013","display_name":"Universit\u00e9 Paris-Est Cr\u00e9teil","ror":"https://ror.org/05ggc9x40","country_code":"FR","type":"education","lineage":["https://openalex.org/I197681013"]},{"id":"https://openalex.org/I2800365227","display_name":"Paris-Est Sup","ror":"https://ror.org/0268ecp52","country_code":"FR","type":"education","lineage":["https://openalex.org/I2800365227"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"T. Madani","raw_affiliation_strings":["Laboratoire Signaux, Images et Syst\u00e8mes Intelligents, University of Paris Est Cr\u00e9teil, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratoire Signaux, Images et Syst\u00e8mes Intelligents, University of Paris Est Cr\u00e9teil, France","institution_ids":["https://openalex.org/I2800365227","https://openalex.org/I197681013"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039367073","display_name":"Mohamed El Hossine Daachi","orcid":null},"institutions":[{"id":"https://openalex.org/I4210135256","display_name":"University Mohamed El Bachir El Ibrahimi of Bordj Bou Arreridj","ror":"https://ror.org/03e75b898","country_code":"DZ","type":"education","lineage":["https://openalex.org/I4210135256"]}],"countries":["DZ"],"is_corresponding":false,"raw_author_name":"M. E. Daachi","raw_affiliation_strings":["Centre Universitaire Bordj, Bou Arr\u00e9ridj, Algeria"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre Universitaire Bordj, Bou Arr\u00e9ridj, Algeria","institution_ids":["https://openalex.org/I4210135256"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025672785","display_name":"Karim Djouani","orcid":"https://orcid.org/0000-0001-6060-8200"},"institutions":[{"id":"https://openalex.org/I137616099","display_name":"Tshwane University of Technology","ror":"https://ror.org/037mrss42","country_code":"ZA","type":"education","lineage":["https://openalex.org/I137616099"]},{"id":"https://openalex.org/I197681013","display_name":"Universit\u00e9 Paris-Est Cr\u00e9teil","ror":"https://ror.org/05ggc9x40","country_code":"FR","type":"education","lineage":["https://openalex.org/I197681013"]},{"id":"https://openalex.org/I2800365227","display_name":"Paris-Est Sup","ror":"https://ror.org/0268ecp52","country_code":"FR","type":"education","lineage":["https://openalex.org/I2800365227"]}],"countries":["FR","ZA"],"is_corresponding":false,"raw_author_name":"K. Djouani","raw_affiliation_strings":["F'SATI TUT, Pretoria, South Africa","Laboratoire Signaux, Images et Syst\u00e8mes Intelligents, University of Paris Est Cr\u00e9teil, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"F'SATI TUT, Pretoria, South Africa","institution_ids":["https://openalex.org/I137616099"]},{"raw_affiliation_string":"Laboratoire Signaux, Images et Syst\u00e8mes Intelligents, University of Paris Est Cr\u00e9teil, France","institution_ids":["https://openalex.org/I2800365227","https://openalex.org/I197681013"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.7695,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.73360106,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"2","issue":null,"first_page":"638","last_page":"643"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","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":0.9984999895095825,"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/T10114","display_name":"Balance, Gait, and Falls Prevention","score":0.9886000156402588,"subfield":{"id":"https://openalex.org/subfields/3612","display_name":"Physical Therapy, Sports Therapy and Rehabilitation"},"field":{"id":"https://openalex.org/fields/36","display_name":"Health Professions"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7834975719451904},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5659334659576416},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5190314054489136},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.44399189949035645},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.4314475655555725},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4232426881790161},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.4224897623062134},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4198628067970276},{"id":"https://openalex.org/keywords/reference-model","display_name":"Reference model","score":0.41834554076194763},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4129101634025574},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.38198497891426086},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19169193506240845},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.15254712104797363},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.07085928320884705}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7834975719451904},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5659334659576416},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5190314054489136},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.44399189949035645},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.4314475655555725},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4232426881790161},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.4224897623062134},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4198628067970276},{"id":"https://openalex.org/C150189527","wikidata":"https://www.wikidata.org/wiki/Q356674","display_name":"Reference model","level":2,"score":0.41834554076194763},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4129101634025574},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.38198497891426086},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19169193506240845},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.15254712104797363},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07085928320884705},{"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/biorob.2014.6913850","is_oa":false,"landing_page_url":"https://doi.org/10.1109/biorob.2014.6913850","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics","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":20,"referenced_works":["https://openalex.org/W1975958028","https://openalex.org/W1985496190","https://openalex.org/W1988115241","https://openalex.org/W1996907893","https://openalex.org/W1997004846","https://openalex.org/W1997292019","https://openalex.org/W1999757390","https://openalex.org/W2006355360","https://openalex.org/W2044173924","https://openalex.org/W2048726136","https://openalex.org/W2102046115","https://openalex.org/W2132442055","https://openalex.org/W2137983211","https://openalex.org/W2144781570","https://openalex.org/W2157391706","https://openalex.org/W2161469965","https://openalex.org/W2169051170","https://openalex.org/W3146803896","https://openalex.org/W4239371562","https://openalex.org/W6624666400"],"related_works":["https://openalex.org/W1979758163","https://openalex.org/W4323768008","https://openalex.org/W1941703695","https://openalex.org/W4248382324","https://openalex.org/W3131574667","https://openalex.org/W2294490033","https://openalex.org/W4360995134","https://openalex.org/W3023605104","https://openalex.org/W4386036352","https://openalex.org/W2039473718"],"abstract_inverted_index":{"In":[0],"this":[1],"paper":[2],"we":[3,41,117],"propose":[4],"to":[5,23,47,70,74,101,114,144],"drive":[6],"an":[7,11,136],"actuated":[8],"orthosis":[9,133,159],"using":[10,130],"adaptive":[12,45],"controller":[13,46],"based":[14],"on":[15],"a":[16,43,131],"reference":[17],"model.":[18,31],"It":[19],"is":[20,68,88],"not":[21],"necessary":[22],"know":[24],"all":[25],"the":[26,29,34,38,94,106,111,115,146,149,152],"functions":[27],"of":[28,37,53,93,105,151],"dynamic":[30,39],"Needing":[32],"only":[33],"global":[35],"structure":[36],"model,":[40],"use":[42],"specific":[44],"obtain":[48],"good":[49],"performance":[50,165],"in":[51,57,60,97],"terms":[52],"trajectory":[54],"tracking":[55,164],"both":[56],"position":[58],"and":[59,77,100,148],"velocity.":[61],"A":[62],"Multi-Layer":[63],"Perceptron":[64],"Neural":[65],"Network":[66],"(MLPNN)":[67],"used":[69,89,119],"estimate":[71],"dynamics":[72],"related":[73,113],"inertia,":[75],"gravitational":[76],"frictional":[78],"forces":[79],"along":[80],"with":[81],"other":[82],"unmodeled":[83],"dynamics.":[84],"The":[85],"Lyapunov":[86],"formalism":[87],"for":[90],"stability":[91],"study":[92],"system":[95],"(shank+orthosis)":[96],"closed":[98],"loop":[99],"determine":[102],"adaptation":[103],"laws":[104],"neural":[107],"parameters.":[108],"To":[109],"treat":[110],"non-linearties":[112],"MLPNN,":[116],"have":[118,127,141],"first":[120],"order":[121],"Taylor":[122],"series":[123],"expansion.":[124],"Experimental":[125],"results":[126],"been":[128,142],"obtained":[129],"real":[132],"worn":[134],"by":[135],"appropriate":[137],"dummy.":[138],"Several":[139],"tests":[140],"realized":[143],"verify":[145],"effectiveness":[147],"robustness":[150],"proposed":[153,158],"controller.":[154],"For":[155],"instance,":[156],"our":[157],"model":[160],"has":[161],"given":[162],"robust":[163],"under":[166],"assistive":[167],"as":[168,170],"well":[169],"resistive":[171],"forces.":[172]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
