{"id":"https://openalex.org/W2968760063","doi":"https://doi.org/10.1109/icra.2019.8794187","title":"Deep Learning based Motion Prediction for Exoskeleton Robot Control in Upper Limb Rehabilitation","display_name":"Deep Learning based Motion Prediction for Exoskeleton Robot Control in Upper Limb Rehabilitation","publication_year":2019,"publication_date":"2019-05-01","ids":{"openalex":"https://openalex.org/W2968760063","doi":"https://doi.org/10.1109/icra.2019.8794187","mag":"2968760063"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2019.8794187","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8794187","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","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/A5001928494","display_name":"Jialiang Ren","orcid":"https://orcid.org/0000-0001-5616-7035"},"institutions":[{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Jia-Liang Ren","raw_affiliation_strings":["Department of Electrical Engineering, National Taiwan University (NTU), Taiwan, R.O.C"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, National Taiwan University (NTU), Taiwan, R.O.C","institution_ids":["https://openalex.org/I16733864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035511336","display_name":"Ya-Hui Chien","orcid":null},"institutions":[{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Ya-Hui Chien","raw_affiliation_strings":["Department of Electrical Engineering, National Taiwan University (NTU), Taiwan, R.O.C"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, National Taiwan University (NTU), Taiwan, R.O.C","institution_ids":["https://openalex.org/I16733864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023074906","display_name":"En-Yu Chia","orcid":null},"institutions":[{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"En-Yu Chia","raw_affiliation_strings":["Department of Electrical Engineering, National Taiwan University (NTU), Taiwan, R.O.C"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, National Taiwan University (NTU), Taiwan, R.O.C","institution_ids":["https://openalex.org/I16733864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101925654","display_name":"Li\u2010Chen Fu","orcid":"https://orcid.org/0000-0002-6947-7646"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li-Chen Fu","raw_affiliation_strings":["Department of Electrical Engineering and Department of Computer Science and Information Engineering, NTU, Taiwan, R.O.C"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Department of Computer Science and Information Engineering, NTU, Taiwan, R.O.C","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5078092583","display_name":"Jin\u2010Shin Lai","orcid":"https://orcid.org/0000-0001-5639-1168"},"institutions":[{"id":"https://openalex.org/I4210131804","display_name":"National Taiwan University Hospital","ror":"https://ror.org/03nteze27","country_code":"TW","type":"healthcare","lineage":["https://openalex.org/I4210131804"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Jin-Shin Lai","raw_affiliation_strings":["Department of Physical Medicine and Rehabilitation, NTU and NTU Hospital, Taiwan, R.O.C"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Physical Medicine and Rehabilitation, NTU and NTU Hospital, Taiwan, R.O.C","institution_ids":["https://openalex.org/I4210131804"]}]}],"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":73,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"5076","last_page":"5082"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9993000030517578,"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"}},"topics":[{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9993000030517578,"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":0.9961000084877014,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9950000047683716,"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":0.9275935888290405},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7375151515007019},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.6053010821342468},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5931189060211182},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5587015748023987},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.5239201188087463},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5227446556091309},{"id":"https://openalex.org/keywords/electromyography","display_name":"Electromyography","score":0.4870310425758362},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.46705758571624756},{"id":"https://openalex.org/keywords/synchronization","display_name":"Synchronization (alternating current)","score":0.45725196599960327},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.33610671758651733},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.2232978343963623}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.9275935888290405},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7375151515007019},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.6053010821342468},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5931189060211182},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5587015748023987},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.5239201188087463},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5227446556091309},{"id":"https://openalex.org/C2777515770","wikidata":"https://www.wikidata.org/wiki/Q507369","display_name":"Electromyography","level":2,"score":0.4870310425758362},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.46705758571624756},{"id":"https://openalex.org/C2778562939","wikidata":"https://www.wikidata.org/wiki/Q1298791","display_name":"Synchronization (alternating current)","level":3,"score":0.45725196599960327},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.33610671758651733},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.2232978343963623},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2019.8794187","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8794187","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8399999737739563,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W885551291","https://openalex.org/W1485009520","https://openalex.org/W1522301498","https://openalex.org/W1969174184","https://openalex.org/W1994749682","https://openalex.org/W2002499457","https://openalex.org/W2003107805","https://openalex.org/W2004048403","https://openalex.org/W2035099243","https://openalex.org/W2066459718","https://openalex.org/W2071513954","https://openalex.org/W2076024315","https://openalex.org/W2089746558","https://openalex.org/W2134123560","https://openalex.org/W2140701493","https://openalex.org/W2147717514","https://openalex.org/W2158625531","https://openalex.org/W2173194528","https://openalex.org/W2173564293","https://openalex.org/W2405161148","https://openalex.org/W2461621749","https://openalex.org/W2767704770","https://openalex.org/W2915142973","https://openalex.org/W2951799221","https://openalex.org/W2964121744","https://openalex.org/W6631190155","https://openalex.org/W6685444567","https://openalex.org/W6713750687"],"related_works":["https://openalex.org/W2000407620","https://openalex.org/W2687972263","https://openalex.org/W2029249305","https://openalex.org/W2511137960","https://openalex.org/W3214088465","https://openalex.org/W2198681394","https://openalex.org/W2115571026","https://openalex.org/W2604231787","https://openalex.org/W2610014769","https://openalex.org/W67682705"],"abstract_inverted_index":{"The":[0,49],"synchronization":[1],"of":[2,69,87,103,118,145],"the":[3,78,88,93,98,104,116,119,125,129,136,141],"movement":[4,99,146],"between":[5,147],"exoskeleton":[6],"robot":[7,94,151],"and":[8,53,65,124,140,150],"human":[9,50,148],"arm":[10,51,95,106,149],"is":[11,34],"crucial":[12],"for":[13],"Robot-assisted":[14],"training":[15],"(RAT)":[16],"in":[17,107],"upper":[18,43],"limb":[19,44],"rehabilitation.":[20],"In":[21],"this":[22],"paper,":[23],"we":[24],"propose":[25],"a":[26,91],"deep":[27,70],"learning":[28,71],"based":[29],"motion":[30,85,121,131],"prediction":[31,79,122,132],"model":[32,72],"which":[33],"applied":[35],"to":[36,73,114],"our":[37],"recently":[38],"developed":[39],"8":[40],"degrees-of-freedom":[41],"(DoFs)":[42],"rehabilitation":[45],"exoskeleton,":[46],"named":[47],"NTUH-II.":[48],"dynamics":[52],"surface":[54],"electromyography":[55],"(sEMG)":[56],"can":[57,80,96,134],"be":[58,81],"first":[59],"measured":[60],"by":[61],"two":[62],"wireless":[63],"sensors":[64],"used":[66,82],"as":[67,83],"input":[68],"predict":[74],"user's":[75,105],"motion.":[76],"Then,":[77],"desired":[84],"trajectory":[86],"exoskeleton.":[89],"As":[90],"result,":[92],"follow":[97],"on":[100],"either":[101],"side":[102],"real-time.":[108],"Various":[109],"experiments":[110],"have":[111],"been":[112],"conducted":[113],"verify":[115],"performance":[117],"proposed":[120,130],"model,":[123],"results":[126],"show":[127],"that":[128],"implementation":[133],"reduce":[135],"mean":[137],"absolute":[138],"error":[139],"average":[142],"delay":[143],"time":[144],"arm.":[152]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":13},{"year":2024,"cited_by_count":12},{"year":2023,"cited_by_count":22},{"year":2022,"cited_by_count":11},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":4}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}