{"id":"https://openalex.org/W2540089564","doi":"https://doi.org/10.1109/icarm.2016.7606948","title":"Adaptive Neural Network control for a robotic exoskeleton with unknown deadzone","display_name":"Adaptive Neural Network control for a robotic exoskeleton with unknown deadzone","publication_year":2016,"publication_date":"2016-08-01","ids":{"openalex":"https://openalex.org/W2540089564","doi":"https://doi.org/10.1109/icarm.2016.7606948","mag":"2540089564"},"language":"en","primary_location":{"id":"doi:10.1109/icarm.2016.7606948","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm.2016.7606948","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 International Conference on Advanced Robotics and Mechatronics (ICARM)","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/A5103106334","display_name":"Bo Huang","orcid":"https://orcid.org/0000-0002-8670-5698"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bo Huang","raw_affiliation_strings":["College of Automation Science and Engineering, South China University of Technology, Guangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Automation Science and Engineering, South China University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022113595","display_name":"Wei He","orcid":"https://orcid.org/0000-0002-8944-9861"},"institutions":[{"id":"https://openalex.org/I92403157","display_name":"University of Science and Technology Beijing","ror":"https://ror.org/02egmk993","country_code":"CN","type":"education","lineage":["https://openalex.org/I92403157"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei He","raw_affiliation_strings":["School of Automation and Electrical Engineering, University of Science and Technology Beijing (USTB)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation and Electrical Engineering, University of Science and Technology Beijing (USTB)","institution_ids":["https://openalex.org/I92403157"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100450024","display_name":"Zhijun Li","orcid":"https://orcid.org/0000-0002-3909-488X"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhijun Li","raw_affiliation_strings":["College of Automation Science and Engineering, South China University of Technology, Guangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Automation Science and Engineering, South China University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"40","issue":null,"first_page":"370","last_page":"375"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9958000183105469,"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":0.9958000183105469,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.98580002784729,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.940500020980835,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/dead-zone","display_name":"Dead zone","score":0.8616562485694885},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8018549084663391},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6781595945358276},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.6275848150253296},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5567926168441772},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.549370288848877},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5491967797279358},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.524291455745697},{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.48052963614463806},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.4714283347129822},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.4487904906272888},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.44123774766921997},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3488231897354126},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3291071951389313},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26682978868484497},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2001418173313141},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17847296595573425},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.16389617323875427}],"concepts":[{"id":"https://openalex.org/C63840607","wikidata":"https://www.wikidata.org/wiki/Q1236263","display_name":"Dead zone","level":2,"score":0.8616562485694885},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8018549084663391},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6781595945358276},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.6275848150253296},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5567926168441772},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.549370288848877},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5491967797279358},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.524291455745697},{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.48052963614463806},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.4714283347129822},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.4487904906272888},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.44123774766921997},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3488231897354126},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3291071951389313},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26682978868484497},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2001418173313141},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17847296595573425},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.16389617323875427},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarm.2016.7606948","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm.2016.7606948","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 International Conference on Advanced Robotics and Mechatronics (ICARM)","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/W1054396882","https://openalex.org/W1493190793","https://openalex.org/W1548970089","https://openalex.org/W1964505625","https://openalex.org/W1973763185","https://openalex.org/W2035895088","https://openalex.org/W2037949549","https://openalex.org/W2038077973","https://openalex.org/W2049778360","https://openalex.org/W2073507324","https://openalex.org/W2093256996","https://openalex.org/W2098878508","https://openalex.org/W2105402422","https://openalex.org/W2106071123","https://openalex.org/W2138484437","https://openalex.org/W2157540237","https://openalex.org/W2203022174","https://openalex.org/W3104471247","https://openalex.org/W6683413744","https://openalex.org/W6687959867"],"related_works":["https://openalex.org/W2887985348","https://openalex.org/W1504649730","https://openalex.org/W2152839317","https://openalex.org/W2642087238","https://openalex.org/W2727326087","https://openalex.org/W2789860620","https://openalex.org/W2518050114","https://openalex.org/W1545539801","https://openalex.org/W4280596088","https://openalex.org/W1970645208"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"adaptive":[3],"neural":[4],"network":[5,86],"control":[6,43],"is":[7,44,50,79,87,102,111],"proposed":[8,45],"for":[9,26,89],"a":[10,47,114],"robotic":[11],"exoskeleton":[12],"that":[13],"contains":[14,97],"unknown":[15,28,37,56,98],"parameters":[16],"in":[17,74],"its":[18],"dynamic.":[19],"Neural":[20,61],"networks":[21],"are":[22,64],"used":[23,88],"to":[24,53,66,81,104],"compensate":[25],"the":[27,33,36,40,55,72,76,90,93,106],"deadzone":[29,68],"effect":[30],"caused":[31],"by":[32],"actuators":[34],"and":[35,46,70],"dynamics":[38],"of":[39,92],"robot.":[41],"State-feedback":[42],"disturbance":[48],"observer":[49],"then":[51],"designed":[52],"estimate":[54],"disturbance.":[57],"Radial":[58],"Basis":[59],"Function":[60],"Networks":[62],"(RBFNNs)":[63],"proposing":[65],"approximate":[67],"effects":[69],"thus":[71],"error":[73],"tracking":[75],"desired":[77],"trajectory":[78],"shown":[80],"be":[82],"bounded.":[83],"Another":[84],"RBF":[85],"estimation":[91],"robot":[94],"dynamic":[95],"which":[96],"parameters.":[99],"The":[100],"controller":[101],"able":[103],"track":[105],"set":[107],"trajectory.":[108],"Then":[109],"it":[110],"verified":[112],"on":[113],"two-joint":[115],"rigid":[116],"manipulator":[117],"via":[118],"experiments.":[119]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
