{"id":"https://openalex.org/W2972745994","doi":"https://doi.org/10.1109/icarm.2019.8833882","title":"Adaptive Human-Robot Interaction Control of the Lower Extremity Robotic Exoskeleton with Magnetorheological Actuators","display_name":"Adaptive Human-Robot Interaction Control of the Lower Extremity Robotic Exoskeleton with Magnetorheological Actuators","publication_year":2019,"publication_date":"2019-07-01","ids":{"openalex":"https://openalex.org/W2972745994","doi":"https://doi.org/10.1109/icarm.2019.8833882","mag":"2972745994"},"language":"en","primary_location":{"id":"doi:10.1109/icarm.2019.8833882","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm.2019.8833882","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 4th International Conference on Advanced Robotics and Mechatronics (ICARM)","raw_type":"proceedings-article"},"type":"article","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/A5007706005","display_name":"Jiajun Xu","orcid":"https://orcid.org/0000-0002-9517-1042"},"institutions":[{"id":"https://openalex.org/I168719708","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23","country_code":"HK","type":"education","lineage":["https://openalex.org/I168719708"]},{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN","HK"],"is_corresponding":true,"raw_author_name":"Jiajun Xu","raw_affiliation_strings":["University of Science and Technology of China and City University of Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"University of Science and Technology of China and City University of Hong Kong, China","institution_ids":["https://openalex.org/I168719708","https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072119017","display_name":"Linsen Xu","orcid":"https://orcid.org/0000-0001-6951-5633"},"institutions":[{"id":"https://openalex.org/I2802624667","display_name":"Hefei Institutes of Physical Science","ror":"https://ror.org/046n57345","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Linsen Xu","raw_affiliation_strings":["Hefei Institutes of Physical Science, CAS, and the Key Laboratory of Biomimetic Sensing and Advanced Robot Technology, Changzhou, 213164, China"],"affiliations":[{"raw_affiliation_string":"Hefei Institutes of Physical Science, CAS, and the Key Laboratory of Biomimetic Sensing and Advanced Robot Technology, Changzhou, 213164, China","institution_ids":["https://openalex.org/I2802624667"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053381821","display_name":"Jinfu Liu","orcid":"https://orcid.org/0000-0002-0097-3529"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jinfu Liu","raw_affiliation_strings":["University of Science and Technology of China, Hefei, 230026, China"],"affiliations":[{"raw_affiliation_string":"University of Science and Technology of China, Hefei, 230026, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046559124","display_name":"Shouqi Chen","orcid":"https://orcid.org/0000-0002-9454-4716"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shouqi Chen","raw_affiliation_strings":["University of Science and Technology of China, Hefei, 230026, China"],"affiliations":[{"raw_affiliation_string":"University of Science and Technology of China, Hefei, 230026, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027446431","display_name":"Chanchan Xu","orcid":"https://orcid.org/0009-0004-6437-392X"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chanchan Xu","raw_affiliation_strings":["University of Science and Technology of China, Hefei, 230026, China"],"affiliations":[{"raw_affiliation_string":"University of Science and Technology of China, Hefei, 230026, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100356104","display_name":"Yang Liu","orcid":"https://orcid.org/0000-0003-1649-4036"},"institutions":[{"id":"https://openalex.org/I16365422","display_name":"Hefei University of Technology","ror":"https://ror.org/02czkny70","country_code":"CN","type":"education","lineage":["https://openalex.org/I16365422"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Liu","raw_affiliation_strings":["Hefei University of Technology, Hefei, 230009, China"],"affiliations":[{"raw_affiliation_string":"Hefei University of Technology, Hefei, 230009, China","institution_ids":["https://openalex.org/I16365422"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100762327","display_name":"Jian Chen","orcid":"https://orcid.org/0000-0003-1382-5266"},"institutions":[{"id":"https://openalex.org/I16365422","display_name":"Hefei University of Technology","ror":"https://ror.org/02czkny70","country_code":"CN","type":"education","lineage":["https://openalex.org/I16365422"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Chen","raw_affiliation_strings":["Hefei University of Technology, Hefei, 230009, China"],"affiliations":[{"raw_affiliation_string":"Hefei University of Technology, Hefei, 230009, China","institution_ids":["https://openalex.org/I16365422"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5007706005"],"corresponding_institution_ids":["https://openalex.org/I126520041","https://openalex.org/I168719708"],"apc_list":null,"apc_paid":null,"fwci":0.0978,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.43518874,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"575","last_page":"580"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9994999766349792,"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":0.9994999766349792,"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":0.9832000136375427,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9817000031471252,"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/exoskeleton","display_name":"Exoskeleton","score":0.8667994141578674},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7751784324645996},{"id":"https://openalex.org/keywords/magnetorheological-fluid","display_name":"Magnetorheological fluid","score":0.7595677971839905},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.6465064287185669},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.56632000207901},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5486543774604797},{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.4164770245552063},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.39883577823638916},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.36600378155708313},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.33138445019721985},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.30888649821281433},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.293489933013916},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23607873916625977}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.8667994141578674},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7751784324645996},{"id":"https://openalex.org/C108619579","wikidata":"https://www.wikidata.org/wiki/Q902419","display_name":"Magnetorheological fluid","level":3,"score":0.7595677971839905},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.6465064287185669},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.56632000207901},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5486543774604797},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.4164770245552063},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.39883577823638916},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.36600378155708313},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.33138445019721985},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.30888649821281433},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.293489933013916},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23607873916625977},{"id":"https://openalex.org/C140096630","wikidata":"https://www.wikidata.org/wiki/Q3423628","display_name":"Damper","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarm.2019.8833882","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm.2019.8833882","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 4th International Conference on Advanced Robotics and Mechatronics (ICARM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8600000143051147,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W89510016","https://openalex.org/W1967377907","https://openalex.org/W2016958754","https://openalex.org/W2027178385","https://openalex.org/W2065676327","https://openalex.org/W2073380436","https://openalex.org/W2140484364","https://openalex.org/W2142237039","https://openalex.org/W2163208146","https://openalex.org/W2166869394","https://openalex.org/W2566495809","https://openalex.org/W2795105096","https://openalex.org/W2893115813","https://openalex.org/W2990651410"],"related_works":["https://openalex.org/W2212114891","https://openalex.org/W2030034424","https://openalex.org/W2977560373","https://openalex.org/W2097622205","https://openalex.org/W4292968870","https://openalex.org/W2899616289","https://openalex.org/W2134222888","https://openalex.org/W1972003167","https://openalex.org/W2330832367","https://openalex.org/W2970957509"],"abstract_inverted_index":{"In":[0,41],"this":[1],"paper,":[2],"a":[3],"lower":[4],"extremity":[5],"robotic":[6,54,136],"exoskeleton":[7],"is":[8,105,123],"presented":[9],"to":[10,36,49,52,60,89,93,107,131],"provide":[11,37,90],"paralytic":[12],"patients":[13,63,95],"with":[14],"rehabilitation":[15],"training":[16,92],"in":[17,33,73],"two":[18,115],"modes":[19],"including":[20],"robot-active":[21,43],"mode":[22],"and":[23,31,67,110],"human-active":[24,75],"mode.":[25],"Magnetorheological":[26],"(MR)":[27],"actuators":[28,122],"are":[29,129],"designed":[30],"set":[32],"the":[34,42,45,53,57,62,69,74,77,120,135],"robot":[35],"flexible":[38],"joint":[39],"torque.":[40],"mode,":[44,76],"MR":[46,78,121],"actuator":[47,79],"works":[48],"transfer":[50],"torque":[51,59,83],"joint,":[55],"limiting":[56],"output":[58],"protect":[61],"from":[64],"secondary":[65],"injury":[66],"reducing":[68],"power":[70],"consumption.":[71],"While":[72],"generates":[80],"controllable":[81],"damping":[82],"by":[84],"changing":[85],"its":[86],"input":[87],"current":[88],"anti-resistance":[91],"help":[94],"strengthen":[96],"muscles.":[97],"Then,":[98],"an":[99],"adaptive":[100],"human-robot":[101],"interaction":[102],"control":[103],"method":[104],"proposed":[106],"realize":[108],"smooth":[109],"stable":[111],"transition":[112],"between":[113],"these":[114],"modes.":[116],"The":[117],"effect":[118],"of":[119,134],"also":[124],"taken":[125],"into":[126],"consideration.":[127],"Experiments":[128],"conducted":[130],"verify":[132],"performance":[133],"control.":[137]},"counts_by_year":[{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}