{"id":"https://openalex.org/W3177732272","doi":"https://doi.org/10.1109/icps49255.2021.9468210","title":"Implementation of Impedance Control for Lower-Limb Rehabilitation Robots","display_name":"Implementation of Impedance Control for Lower-Limb Rehabilitation Robots","publication_year":2021,"publication_date":"2021-05-10","ids":{"openalex":"https://openalex.org/W3177732272","doi":"https://doi.org/10.1109/icps49255.2021.9468210","mag":"3177732272"},"language":"en","primary_location":{"id":"doi:10.1109/icps49255.2021.9468210","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icps49255.2021.9468210","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 4th IEEE International Conference on Industrial Cyber-Physical Systems (ICPS)","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/A5045055126","display_name":"Yujian Zhou","orcid":"https://orcid.org/0000-0002-1324-4157"},"institutions":[{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yujian Zhou","raw_affiliation_strings":["Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems, Wuhan, China","institution_ids":["https://openalex.org/I4210094879"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101916568","display_name":"Jinhua She","orcid":"https://orcid.org/0000-0003-3165-5045"},"institutions":[{"id":"https://openalex.org/I148798404","display_name":"Tokyo University of Technology","ror":"https://ror.org/021a26605","country_code":"JP","type":"education","lineage":["https://openalex.org/I148798404"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Jinhua She","raw_affiliation_strings":["School of Engineering, Tokyo University of Technology, Hachioji, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering, Tokyo University of Technology, Hachioji, Tokyo, Japan","institution_ids":["https://openalex.org/I148798404"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101455965","display_name":"Zhentao Liu","orcid":"https://orcid.org/0000-0003-4100-9557"},"institutions":[{"id":"https://openalex.org/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"government","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhen-Tao Liu","raw_affiliation_strings":["Engineering Research Center of Intelligent Technology for Geo-Exploration, Ministry of Education, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Engineering Research Center of Intelligent Technology for Geo-Exploration, Ministry of Education, Wuhan, China","institution_ids":["https://openalex.org/I1327237609"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026897684","display_name":"Chi Xu","orcid":"https://orcid.org/0000-0002-5301-9376"},"institutions":[{"id":"https://openalex.org/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"government","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chi Xu","raw_affiliation_strings":["Engineering Research Center of Intelligent Technology for Geo-Exploration, Ministry of Education, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Engineering Research Center of Intelligent Technology for Geo-Exploration, Ministry of Education, Wuhan, China","institution_ids":["https://openalex.org/I1327237609"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101542517","display_name":"Zhaohui Yang","orcid":"https://orcid.org/0000-0002-8929-4505"},"institutions":[{"id":"https://openalex.org/I4210129222","display_name":"Wuhan Union Hospital","ror":"https://ror.org/0371fqr87","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210129222"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhaohui Yang","raw_affiliation_strings":["Union Hospital, Tongji Medical College, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Union Hospital, Tongji Medical College, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I4210129222"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"700","last_page":"704"},"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":0.9965000152587891,"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":0.9915000200271606,"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/robot","display_name":"Robot","score":0.7954962253570557},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.72868812084198},{"id":"https://openalex.org/keywords/rehabilitation-robotics","display_name":"Rehabilitation robotics","score":0.6796682476997375},{"id":"https://openalex.org/keywords/rehabilitation","display_name":"Rehabilitation","score":0.663913905620575},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.6054630875587463},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6002315878868103},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.5324545502662659},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.5307892560958862},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.468037873506546},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.43875443935394287},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.40888747572898865},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.39860761165618896},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3142765760421753},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3023039698600769},{"id":"https://openalex.org/keywords/physical-therapy","display_name":"Physical therapy","score":0.23777896165847778},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.19476011395454407},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08028450608253479},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.05371078848838806}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7954962253570557},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.72868812084198},{"id":"https://openalex.org/C2775862927","wikidata":"https://www.wikidata.org/wiki/Q7309766","display_name":"Rehabilitation robotics","level":3,"score":0.6796682476997375},{"id":"https://openalex.org/C2778818304","wikidata":"https://www.wikidata.org/wiki/Q1819478","display_name":"Rehabilitation","level":2,"score":0.663913905620575},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.6054630875587463},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6002315878868103},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.5324545502662659},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.5307892560958862},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.468037873506546},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.43875443935394287},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.40888747572898865},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.39860761165618896},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3142765760421753},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3023039698600769},{"id":"https://openalex.org/C1862650","wikidata":"https://www.wikidata.org/wiki/Q186005","display_name":"Physical therapy","level":1,"score":0.23777896165847778},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.19476011395454407},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08028450608253479},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.05371078848838806},{"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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icps49255.2021.9468210","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icps49255.2021.9468210","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 4th IEEE International Conference on Industrial Cyber-Physical Systems (ICPS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G26576258","display_name":null,"funder_award_id":"B17040","funder_id":"https://openalex.org/F4320327912","funder_display_name":"Higher Education Discipline Innovation Project"},{"id":"https://openalex.org/G5902372546","display_name":null,"funder_award_id":"61873348","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320327912","display_name":"Higher Education Discipline Innovation Project","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":50,"referenced_works":["https://openalex.org/W1967377907","https://openalex.org/W1969976050","https://openalex.org/W1987182292","https://openalex.org/W2024920962","https://openalex.org/W2027413209","https://openalex.org/W2062467193","https://openalex.org/W2069852708","https://openalex.org/W2075738295","https://openalex.org/W2094490085","https://openalex.org/W2101892505","https://openalex.org/W2104536749","https://openalex.org/W2113265921","https://openalex.org/W2125213782","https://openalex.org/W2127245174","https://openalex.org/W2132773469","https://openalex.org/W2133322641","https://openalex.org/W2144910137","https://openalex.org/W2147582248","https://openalex.org/W2150539243","https://openalex.org/W2154383940","https://openalex.org/W2160569430","https://openalex.org/W2162207896","https://openalex.org/W2166869394","https://openalex.org/W2169609017","https://openalex.org/W2290386444","https://openalex.org/W2309189735","https://openalex.org/W2314354413","https://openalex.org/W2318057739","https://openalex.org/W2319640990","https://openalex.org/W2343277025","https://openalex.org/W2537878323","https://openalex.org/W2591545703","https://openalex.org/W2614990126","https://openalex.org/W2622126529","https://openalex.org/W2743463877","https://openalex.org/W2748083017","https://openalex.org/W2762013224","https://openalex.org/W2783009944","https://openalex.org/W2900908358","https://openalex.org/W2901437053","https://openalex.org/W2912698479","https://openalex.org/W2923078152","https://openalex.org/W2945117614","https://openalex.org/W2964512388","https://openalex.org/W2980089704","https://openalex.org/W3004723442","https://openalex.org/W3008919156","https://openalex.org/W3017205653","https://openalex.org/W4240172577","https://openalex.org/W6759000032"],"related_works":["https://openalex.org/W2096429409","https://openalex.org/W1548357495","https://openalex.org/W2314048082","https://openalex.org/W1968487248","https://openalex.org/W2791650347","https://openalex.org/W2097006611","https://openalex.org/W2055564519","https://openalex.org/W4211223028","https://openalex.org/W4295916778","https://openalex.org/W2573372219"],"abstract_inverted_index":{"Rehabilitation":[0],"robots":[1,5],"are":[2,32,56],"kinds":[3],"of":[4,72,82,95,98,111,119,122,142],"working":[6],"together":[7],"with":[8,62],"humans":[9],"to":[10,17,20,58],"help":[11],"patients":[12],"in":[13,42,69,85,101,126,139],"functional":[14],"recovery":[15],"or":[16],"assist":[18],"people":[19],"move":[21],"normally.":[22],"Since":[23],"compliance":[24,64],"and":[25,40,54,65,136],"safety":[26],"during":[27],"a":[28,60,92],"robot-aided":[29,86],"therapy":[30],"period":[31],"important,":[33],"impedance":[34,47,77,99,112],"control":[35,78,100],"takes":[36],"both":[37],"the":[38,70,96,108,120,133,137,140],"effect":[39],"procedure":[41],"rehabilitation":[43,103,128,143],"into":[44],"consideration.":[45],"Different":[46],"parameters":[48,74],"(for":[49],"example,":[50],"inertia,":[51],"damping":[52],"ratio,":[53],"stiffness)":[55],"designed":[57],"ensure":[59],"robot":[61],"desired":[63],"safe":[66],"operation.":[67],"Flexibility":[68],"selection":[71],"those":[73],"ensures":[75],"that":[76],"makes":[79],"full":[80],"use":[81],"information":[83],"collected":[84],"physical":[87],"therapy.":[88],"This":[89],"paper":[90],"presents":[91],"short":[93],"review":[94],"implementation":[97,121],"lower-limb":[102,127],"robots.":[104,129],"We":[105],"first":[106],"show":[107],"basic":[109],"structure":[110],"control.":[113],"Then,":[114],"we":[115,131],"present":[116],"an":[117],"overview":[118],"various":[123],"impedance-control":[124],"methods":[125],"Finally,":[130],"explain":[132],"limitations.":[134],"challenges,":[135],"trend":[138],"field":[141],"robotics.":[144]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
