{"id":"https://openalex.org/W4403676250","doi":"https://doi.org/10.1109/biorob60516.2024.10719751","title":"Iterative Learning Compensation Control for Torque Tracking of Short Pulses Throughout Gait Cycle with an Ankle Exoskeleton","display_name":"Iterative Learning Compensation Control for Torque Tracking of Short Pulses Throughout Gait Cycle with an Ankle Exoskeleton","publication_year":2024,"publication_date":"2024-09-01","ids":{"openalex":"https://openalex.org/W4403676250","doi":"https://doi.org/10.1109/biorob60516.2024.10719751"},"language":"en","primary_location":{"id":"doi:10.1109/biorob60516.2024.10719751","is_oa":false,"landing_page_url":"https://doi.org/10.1109/biorob60516.2024.10719751","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://ris.utwente.nl/ws/files/469196586/Iterative_Learning_Compensation_Control_for_Torque_Tracking_of_Short_Pulses_Throughout_Gait_Cycle_with_an_Ankle_Exoskeleton.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5092869900","display_name":"Zahra S. Mahdian","orcid":"https://orcid.org/0009-0006-2473-4940"},"institutions":[{"id":"https://openalex.org/I94624287","display_name":"University of Twente","ror":"https://ror.org/006hf6230","country_code":"NL","type":"education","lineage":["https://openalex.org/I94624287"]}],"countries":["NL"],"is_corresponding":true,"raw_author_name":"Zahra S. Mahdian","raw_affiliation_strings":["University of Twente,Department of Biomechanical Engineering,The Netherlands"],"affiliations":[{"raw_affiliation_string":"University of Twente,Department of Biomechanical Engineering,The Netherlands","institution_ids":["https://openalex.org/I94624287"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083232835","display_name":"Herman van der Kooij","orcid":"https://orcid.org/0000-0002-7926-3262"},"institutions":[{"id":"https://openalex.org/I94624287","display_name":"University of Twente","ror":"https://ror.org/006hf6230","country_code":"NL","type":"education","lineage":["https://openalex.org/I94624287"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Herman van der Kooij","raw_affiliation_strings":["University of Twente,Department of Biomechanical Engineering,The Netherlands"],"affiliations":[{"raw_affiliation_string":"University of Twente,Department of Biomechanical Engineering,The Netherlands","institution_ids":["https://openalex.org/I94624287"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053384815","display_name":"Mhairi K. MacLean","orcid":"https://orcid.org/0000-0003-3103-3932"},"institutions":[{"id":"https://openalex.org/I94624287","display_name":"University of Twente","ror":"https://ror.org/006hf6230","country_code":"NL","type":"education","lineage":["https://openalex.org/I94624287"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Mhairi K. MacLean","raw_affiliation_strings":["University of Twente,Department of Biomechanical Engineering,The Netherlands"],"affiliations":[{"raw_affiliation_string":"University of Twente,Department of Biomechanical Engineering,The Netherlands","institution_ids":["https://openalex.org/I94624287"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5092869900"],"corresponding_institution_ids":["https://openalex.org/I94624287"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.17265533,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1802","last_page":"1808"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9598000049591064,"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":0.9598000049591064,"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/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9445000290870667,"subfield":{"id":"https://openalex.org/subfields/2742","display_name":"Rehabilitation"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T10925","display_name":"Spinal Cord Injury Research","score":0.9383999705314636,"subfield":{"id":"https://openalex.org/subfields/2734","display_name":"Pathology and Forensic Medicine"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.8827965259552002},{"id":"https://openalex.org/keywords/iterative-learning-control","display_name":"Iterative learning control","score":0.7274208068847656},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.7165752649307251},{"id":"https://openalex.org/keywords/ankle","display_name":"Ankle","score":0.6086158752441406},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5944303274154663},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.594147264957428},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.5666277408599854},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.519610583782196},{"id":"https://openalex.org/keywords/gait-cycle","display_name":"Gait cycle","score":0.5059708952903748},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.3939966857433319},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3796117305755615},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.35322773456573486},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.2674531936645508},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2581467926502228},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.1310829520225525},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.12529096007347107},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.10752066969871521},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09797805547714233}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.8827965259552002},{"id":"https://openalex.org/C117619785","wikidata":"https://www.wikidata.org/wiki/Q6094414","display_name":"Iterative learning control","level":3,"score":0.7274208068847656},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.7165752649307251},{"id":"https://openalex.org/C2778640784","wikidata":"https://www.wikidata.org/wiki/Q168002","display_name":"Ankle","level":2,"score":0.6086158752441406},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5944303274154663},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.594147264957428},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.5666277408599854},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.519610583782196},{"id":"https://openalex.org/C2985215115","wikidata":"https://www.wikidata.org/wiki/Q22305006","display_name":"Gait cycle","level":3,"score":0.5059708952903748},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.3939966857433319},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3796117305755615},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.35322773456573486},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2674531936645508},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2581467926502228},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.1310829520225525},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.12529096007347107},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.10752066969871521},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09797805547714233},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","level":1,"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/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/biorob60516.2024.10719751","is_oa":false,"landing_page_url":"https://doi.org/10.1109/biorob60516.2024.10719751","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)","raw_type":"proceedings-article"},{"id":"pmh:oai:ris.utwente.nl:publications/465c88c4-e740-4632-b210-55481c25f8c5","is_oa":true,"landing_page_url":"https://research.utwente.nl/en/publications/465c88c4-e740-4632-b210-55481c25f8c5","pdf_url":"https://ris.utwente.nl/ws/files/469196586/Iterative_Learning_Compensation_Control_for_Torque_Tracking_of_Short_Pulses_Throughout_Gait_Cycle_with_an_Ankle_Exoskeleton.pdf","source":{"id":"https://openalex.org/S4406922991","display_name":"University of Twente Research Information","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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Mahdian Sadr, Z S, Van Der Kooij, H & Maclean, M K 2024, Iterative Learning Compensation Control for Torque Tracking of Short Pulses Throughout Gait Cycle with an Ankle Exoskeleton. in 2024 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, BioRob 2024. Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, IEEE, pp. 1802-1808, 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, BioRob 2024, Heidelberg, Baden-W\u00fcrttemberg, Germany, 1/09/24. https://doi.org/10.1109/BioRob60516.2024.10719751","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":{"id":"pmh:oai:ris.utwente.nl:publications/465c88c4-e740-4632-b210-55481c25f8c5","is_oa":true,"landing_page_url":"https://research.utwente.nl/en/publications/465c88c4-e740-4632-b210-55481c25f8c5","pdf_url":"https://ris.utwente.nl/ws/files/469196586/Iterative_Learning_Compensation_Control_for_Torque_Tracking_of_Short_Pulses_Throughout_Gait_Cycle_with_an_Ankle_Exoskeleton.pdf","source":{"id":"https://openalex.org/S4406922991","display_name":"University of Twente Research Information","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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Mahdian Sadr, Z S, Van Der Kooij, H & Maclean, M K 2024, Iterative Learning Compensation Control for Torque Tracking of Short Pulses Throughout Gait Cycle with an Ankle Exoskeleton. in 2024 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, BioRob 2024. Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, IEEE, pp. 1802-1808, 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, BioRob 2024, Heidelberg, Baden-W\u00fcrttemberg, Germany, 1/09/24. https://doi.org/10.1109/BioRob60516.2024.10719751","raw_type":"info:eu-repo/semantics/publishedVersion"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4403676250.pdf","grobid_xml":"https://content.openalex.org/works/W4403676250.grobid-xml"},"referenced_works_count":10,"referenced_works":["https://openalex.org/W1990518231","https://openalex.org/W2139674081","https://openalex.org/W2734794766","https://openalex.org/W2783106319","https://openalex.org/W3138593777","https://openalex.org/W4221070573","https://openalex.org/W4226326632","https://openalex.org/W4320712909","https://openalex.org/W4367681492","https://openalex.org/W4403677700"],"related_works":["https://openalex.org/W2390475535","https://openalex.org/W2611160909","https://openalex.org/W3017911271","https://openalex.org/W2913503957","https://openalex.org/W2995649005","https://openalex.org/W2536500502","https://openalex.org/W2027166246","https://openalex.org/W2600139093","https://openalex.org/W2147467411","https://openalex.org/W2891414412"],"abstract_inverted_index":{"Research":[0],"in":[1,59,85,135],"gait":[2,12,40,61,132,149,174,180],"entrainment":[3,41,181],"can":[4,54],"help":[5],"to":[6,29,36,65,94,140],"understand":[7],"the":[8,37,60,110,115,142,148,173],"neuromechanics":[9],"of":[10,82,106,125,157],"human":[11],"and":[13,102,128,163],"develop":[14],"new":[15],"rehabilitation":[16],"approaches.":[17],"We":[18,69,118,151],"use":[19],"a":[20,88,154],"Bowden":[21],"cable-driven":[22],"ankle":[23,38],"exoskeleton":[24,44],"with":[25,56,87,91],"series":[26],"elastic":[27],"actuation":[28],"apply":[30],"periodic":[31],"short":[32],"small":[33],"torque":[34,52,67,76,100,104,127,129,144,165,170],"pulses":[35,53,107,130,171],"for":[39,75,160],"studies.":[42],"The":[43,138],"dynamics":[45],"at":[46,109],"pulse":[47,66,103,145,164],"initiation":[48],"are":[49],"inconsistent":[50],"because":[51],"coincide":[55],"any":[57],"point":[58],"cycle,":[62],"introducing":[63],"difficulty":[64],"tracking.":[68],"investigated":[70],"if":[71],"iterative":[72,116,121],"learning":[73,122],"compensation":[74,158],"error":[77],"from":[78],"similar":[79],"time":[80,112],"instants":[81],"previous":[83],"strides":[84],"combination":[86],"proportional":[89],"controller":[90],"damping":[92],"injection":[93],"motor":[95],"velocity":[96],"could":[97],"improve":[98],"pretension":[99,126,162],"tracking":[101,105,166],"initiated":[108],"same":[111],"instant":[113],"during":[114],"learning.":[117],"showed":[119],"that":[120,153],"improves":[123],"root-mean-square-error":[124],"throughout":[131,147,172],"cycle":[133,175],"except":[134],"early":[136],"stance.":[137],"delay":[139],"track":[141],"desired":[143],"decreased":[146],"cycle.":[150],"conclude":[152],"comprehensive":[155],"library":[156],"terms":[159],"both":[161],"would":[167],"facilitate":[168],"consistent":[169],"thus":[176],"facilitating":[177],"our":[178],"future":[179],"research.":[182]},"counts_by_year":[],"updated_date":"2026-03-17T17:19:04.345684","created_date":"2025-10-10T00:00:00"}