{"id":"https://openalex.org/W4403534854","doi":"https://doi.org/10.1109/icarm62033.2024.10715779","title":"A Feedback Linearization-Based Control Strategy for Underwater Soft Exoskeleton","display_name":"A Feedback Linearization-Based Control Strategy for Underwater Soft Exoskeleton","publication_year":2024,"publication_date":"2024-07-08","ids":{"openalex":"https://openalex.org/W4403534854","doi":"https://doi.org/10.1109/icarm62033.2024.10715779"},"language":"en","primary_location":{"id":"doi:10.1109/icarm62033.2024.10715779","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm62033.2024.10715779","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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":null,"display_name":"Weifan Mao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Weifan Mao","raw_affiliation_strings":["Institute of Artificial Intelligence, Hefei Comprehensive National Science Center,Hefei,China,230088"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence, Hefei Comprehensive National Science Center,Hefei,China,230088","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011360850","display_name":"Z Ye","orcid":"https://orcid.org/0009-0000-3333-2544"},"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":"Zhongwen Ye","raw_affiliation_strings":["University of Science and Technology of China,Institute of Advanced Technology,Hefei,China,230094"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Science and Technology of China,Institute of Advanced Technology,Hefei,China,230094","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100340839","display_name":"Xiaotong Liu","orcid":"https://orcid.org/0000-0002-9256-297X"},"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":"Xiaotong Liu","raw_affiliation_strings":["University of Science and Technology of China,Institute of Advanced Technology,Hefei,China,230094"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Science and Technology of China,Institute of Advanced Technology,Hefei,China,230094","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068653886","display_name":"Peihao Zhang","orcid":"https://orcid.org/0000-0002-7676-7203"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Peihao Zhang","raw_affiliation_strings":["Institute of Artificial Intelligence, Hefei Comprehensive National Science Center,Hefei,China,230088"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence, Hefei Comprehensive National Science Center,Hefei,China,230088","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060308020","display_name":"Guoxin Li","orcid":"https://orcid.org/0000-0001-8384-0002"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Guoxin Li","raw_affiliation_strings":["Institute of Artificial Intelligence, Hefei Comprehensive National Science Center,Hefei,China,230088"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence, Hefei Comprehensive National Science Center,Hefei,China,230088","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5119011560","display_name":"Tengxin Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tengxin Zhang","raw_affiliation_strings":["Institute of Artificial Intelligence, Hefei Comprehensive National Science Center,Hefei,China,230088"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence, Hefei Comprehensive National Science Center,Hefei,China,230088","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058515591","display_name":"Bingcong Jian","orcid":"https://orcid.org/0000-0002-0115-8657"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bingcong Jian","raw_affiliation_strings":["Tongji University,School of Mechanical Engineering,Shanghai,China,201804"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tongji University,School of Mechanical Engineering,Shanghai,China,201804","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010041502","display_name":"Fan Bai","orcid":"https://orcid.org/0000-0002-2291-2495"},"institutions":[{"id":"https://openalex.org/I4210146112","display_name":"Shanghai Sunshine Rehabilitation Center","ror":"https://ror.org/03gqsr633","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210146112"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fangyun Bai","raw_affiliation_strings":["Tongji University,Shanghai YangZhi Rehabilitation Hospital (Shanghai Sunshine Rehabilitation Center),Shanghai,China,201619"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tongji University,Shanghai YangZhi Rehabilitation Hospital (Shanghai Sunshine Rehabilitation Center),Shanghai,China,201619","institution_ids":["https://openalex.org/I4210146112"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088804666","display_name":"Hua Fan","orcid":"https://orcid.org/0000-0001-6230-0445"},"institutions":[{"id":"https://openalex.org/I4210146112","display_name":"Shanghai Sunshine Rehabilitation Center","ror":"https://ror.org/03gqsr633","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210146112"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hua Fan","raw_affiliation_strings":["Tongji University,Shanghai YangZhi Rehabilitation Hospital (Shanghai Sunshine Rehabilitation Center),Shanghai,China,201619"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tongji University,Shanghai YangZhi Rehabilitation Hospital (Shanghai Sunshine Rehabilitation Center),Shanghai,China,201619","institution_ids":["https://openalex.org/I4210146112"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5026129330","display_name":"Haisheng Xia","orcid":"https://orcid.org/0000-0001-8574-6650"},"institutions":[{"id":"https://openalex.org/I4210146112","display_name":"Shanghai Sunshine Rehabilitation Center","ror":"https://ror.org/03gqsr633","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210146112"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haisheng Xia","raw_affiliation_strings":["Tongji University,School of Mechanical Engineering, Translational Research Center, Shanghai YangZhi Rehabilitation Hospital (Shanghai Sunshine Rehabilitation Center),Shanghai,China,201804"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tongji University,School of Mechanical Engineering, Translational Research Center, Shanghai YangZhi Rehabilitation Hospital (Shanghai Sunshine Rehabilitation Center),Shanghai,China,201804","institution_ids":["https://openalex.org/I4210146112"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"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":null,"issue":null,"first_page":"188","last_page":"193"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9319000244140625,"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":0.9319000244140625,"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":0.7985159158706665},{"id":"https://openalex.org/keywords/feedback-linearization","display_name":"Feedback linearization","score":0.6983616352081299},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6324985027313232},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.6098371148109436},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.597919762134552},{"id":"https://openalex.org/keywords/feedback-control","display_name":"Feedback control","score":0.463418185710907},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4348217248916626},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.42541176080703735},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26270827651023865},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.26166242361068726},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19703930616378784},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.12527704238891602}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.7985159158706665},{"id":"https://openalex.org/C85736874","wikidata":"https://www.wikidata.org/wiki/Q672139","display_name":"Feedback linearization","level":3,"score":0.6983616352081299},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6324985027313232},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.6098371148109436},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.597919762134552},{"id":"https://openalex.org/C3018651601","wikidata":"https://www.wikidata.org/wiki/Q183635","display_name":"Feedback control","level":2,"score":0.463418185710907},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4348217248916626},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.42541176080703735},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26270827651023865},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.26166242361068726},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19703930616378784},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.12527704238891602},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarm62033.2024.10715779","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm62033.2024.10715779","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 International Conference on Advanced Robotics and Mechatronics (ICARM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","display_name":"Life below water","score":0.6800000071525574}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1549477361","https://openalex.org/W1939423166","https://openalex.org/W1979650453","https://openalex.org/W2114722420","https://openalex.org/W2330589301","https://openalex.org/W2772269784","https://openalex.org/W2795105096","https://openalex.org/W2908573648","https://openalex.org/W2983614830","https://openalex.org/W3023709782","https://openalex.org/W3118316475","https://openalex.org/W3135286236","https://openalex.org/W4200455269","https://openalex.org/W4205814054","https://openalex.org/W4205921953","https://openalex.org/W4281665577","https://openalex.org/W4320712909","https://openalex.org/W4362715097","https://openalex.org/W4380631689","https://openalex.org/W4383109234","https://openalex.org/W4386159943","https://openalex.org/W4389897603","https://openalex.org/W6746612709"],"related_works":["https://openalex.org/W2901258812","https://openalex.org/W2887985348","https://openalex.org/W2401700601","https://openalex.org/W2614054764","https://openalex.org/W2129729136","https://openalex.org/W2550615281","https://openalex.org/W3199587793","https://openalex.org/W2740200695","https://openalex.org/W2207396480","https://openalex.org/W188253444"],"abstract_inverted_index":{"The":[0],"physiological":[1],"limitations":[2],"of":[3,10,93,132,154,182],"human":[4],"endurance":[5],"underwater":[6,19,37,56,145],"necessitate":[7],"the":[8,86,91,104,130,133,144,168,178],"use":[9],"supportive":[11],"devices":[12],"for":[13,80],"prolonged":[14],"activities.":[15],"In":[16],"this":[17,120],"context,":[18],"exoskeleton":[20,38,147],"robots,":[21],"serving":[22],"as":[23],"wearable":[24],"aids":[25],"in":[26,55,85,157,161],"submerged":[27],"environments,":[28],"offer":[29],"promising":[30],"solutions.":[31],"This":[32],"paper":[33],"introduces":[34],"a":[35,43,62,77,108,114,151],"soft":[36,146],"robot":[39],"system":[40,53,106],"based":[41,118],"on":[42,73,119],"motor-bowden":[44],"rope-ankle":[45],"mechanism.":[46],"To":[47],"achieve":[48],"precise":[49],"control":[50,58,63,96,110,136],"and":[51,82,95,165,180],"enhance":[52],"stability":[54,131],"nonlinear":[57,105],"scenarios,":[59],"we":[60,102],"propose":[61],"strategy":[64],"utilizing":[65,143],"feedback":[66,99,134],"linearization":[67,100,135],"techniques.":[68],"Our":[69],"focus":[70],"primarily":[71],"centers":[72],"horizontal":[74],"motion,":[75],"with":[76,167],"deliberate":[78],"disregard":[79],"buoyancy":[81],"gravity":[83],"forces":[84],"vertical":[87],"direction":[88],"to":[89,128,150],"streamline":[90],"analysis":[92],"dynamics":[94],"models.":[97],"Leveraging":[98],"control,":[101],"transform":[103],"into":[107],"linear":[109,116],"state,":[111],"subsequently":[112],"designing":[113],"classic":[115],"controller":[117],"transformed":[121],"property.":[122],"Rigorous":[123],"mathematical":[124],"proofs":[125],"are":[126],"provided":[127],"establish":[129],"system.":[137],"Finally,":[138],"experimental":[139],"results":[140,176],"demonstrate":[141],"that":[142],"assistance":[148],"led":[149],"notable":[152],"decrease":[153],"approximately":[155],"14%":[156],"electromyography":[158],"values,":[159],"both":[160],"root":[162],"mean":[163],"square":[164],"maximum,":[166],"ankle":[169],"joint":[170],"trajectory":[171],"curve":[172],"fitting":[173],"well.":[174],"These":[175],"underscore":[177],"feasibility":[179],"efficacy":[181],"our":[183],"approach.":[184]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
