{"id":"https://openalex.org/W3103256949","doi":"https://doi.org/10.1109/iecon43393.2020.9254696","title":"Disturbance Observer Based Iterative Learning Control for Upper Limb Rehabilitation","display_name":"Disturbance Observer Based Iterative Learning Control for Upper Limb Rehabilitation","publication_year":2020,"publication_date":"2020-10-18","ids":{"openalex":"https://openalex.org/W3103256949","doi":"https://doi.org/10.1109/iecon43393.2020.9254696","mag":"3103256949"},"language":"en","primary_location":{"id":"doi:10.1109/iecon43393.2020.9254696","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon43393.2020.9254696","pdf_url":null,"source":{"id":"https://openalex.org/S4363608618","display_name":"IECON 2020 The 46th Annual Conference of the IEEE Industrial Electronics Society","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2020 The 46th Annual Conference of the IEEE Industrial Electronics Society","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/A5001890272","display_name":"Benyan Huo","orcid":"https://orcid.org/0000-0002-7187-8211"},"institutions":[{"id":"https://openalex.org/I38877650","display_name":"Zhengzhou University","ror":"https://ror.org/04ypx8c21","country_code":"CN","type":"education","lineage":["https://openalex.org/I38877650"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Benyan Huo","raw_affiliation_strings":["Faculty of Electrical Engineering, Zhengzhou University, Zhengzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering, Zhengzhou University, Zhengzhou, China","institution_ids":["https://openalex.org/I38877650"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006721216","display_name":"Yanhong Liu","orcid":"https://orcid.org/0000-0002-7349-5871"},"institutions":[{"id":"https://openalex.org/I38877650","display_name":"Zhengzhou University","ror":"https://ror.org/04ypx8c21","country_code":"CN","type":"education","lineage":["https://openalex.org/I38877650"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanhong Liu","raw_affiliation_strings":["Faculty of Electrical Engineering, Zhengzhou University, Zhengzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering, Zhengzhou University, Zhengzhou, China","institution_ids":["https://openalex.org/I38877650"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041465270","display_name":"Yunhui Qin","orcid":"https://orcid.org/0000-0002-6655-9849"},"institutions":[{"id":"https://openalex.org/I38877650","display_name":"Zhengzhou University","ror":"https://ror.org/04ypx8c21","country_code":"CN","type":"education","lineage":["https://openalex.org/I38877650"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunhui Qin","raw_affiliation_strings":["Faculty of Electrical Engineering, Zhengzhou University, Zhengzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering, Zhengzhou University, Zhengzhou, China","institution_ids":["https://openalex.org/I38877650"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037657172","display_name":"Bing Chu","orcid":"https://orcid.org/0000-0002-2711-8717"},"institutions":[{"id":"https://openalex.org/I43439940","display_name":"University of Southampton","ror":"https://ror.org/01ryk1543","country_code":"GB","type":"education","lineage":["https://openalex.org/I43439940"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Bing Chu","raw_affiliation_strings":["University of Southampton, Southampton, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Southampton, Southampton, UK","institution_ids":["https://openalex.org/I43439940"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058797130","display_name":"Christopher Freeman","orcid":"https://orcid.org/0000-0003-0305-9246"},"institutions":[{"id":"https://openalex.org/I43439940","display_name":"University of Southampton","ror":"https://ror.org/01ryk1543","country_code":"GB","type":"education","lineage":["https://openalex.org/I43439940"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"C. T. Freeman","raw_affiliation_strings":["University of Southampton, Southampton, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Southampton, Southampton, UK","institution_ids":["https://openalex.org/I43439940"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"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":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9904999732971191,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9904999732971191,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.989799976348877,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9606999754905701,"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/iterative-learning-control","display_name":"Iterative learning control","score":0.7277719974517822},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6873531937599182},{"id":"https://openalex.org/keywords/rehabilitation","display_name":"Rehabilitation","score":0.6127564907073975},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5441317558288574},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4422711431980133},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.4363973140716553},{"id":"https://openalex.org/keywords/disturbance","display_name":"Disturbance (geology)","score":0.4259431064128876},{"id":"https://openalex.org/keywords/aperiodic-graph","display_name":"Aperiodic graph","score":0.4154742658138275},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.34238770604133606},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.33224165439605713},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3224712014198303},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26175457239151},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21409162878990173},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16925862431526184},{"id":"https://openalex.org/keywords/physical-therapy","display_name":"Physical therapy","score":0.09257835149765015},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.08221819996833801}],"concepts":[{"id":"https://openalex.org/C117619785","wikidata":"https://www.wikidata.org/wiki/Q6094414","display_name":"Iterative learning control","level":3,"score":0.7277719974517822},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6873531937599182},{"id":"https://openalex.org/C2778818304","wikidata":"https://www.wikidata.org/wiki/Q1819478","display_name":"Rehabilitation","level":2,"score":0.6127564907073975},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5441317558288574},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4422711431980133},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.4363973140716553},{"id":"https://openalex.org/C2777601987","wikidata":"https://www.wikidata.org/wiki/Q5283581","display_name":"Disturbance (geology)","level":2,"score":0.4259431064128876},{"id":"https://openalex.org/C104247578","wikidata":"https://www.wikidata.org/wiki/Q4779368","display_name":"Aperiodic graph","level":2,"score":0.4154742658138275},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34238770604133606},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.33224165439605713},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3224712014198303},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26175457239151},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21409162878990173},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16925862431526184},{"id":"https://openalex.org/C1862650","wikidata":"https://www.wikidata.org/wiki/Q186005","display_name":"Physical therapy","level":1,"score":0.09257835149765015},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.08221819996833801},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iecon43393.2020.9254696","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon43393.2020.9254696","pdf_url":null,"source":{"id":"https://openalex.org/S4363608618","display_name":"IECON 2020 The 46th Annual Conference of the IEEE Industrial Electronics Society","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2020 The 46th Annual Conference of the IEEE Industrial Electronics Society","raw_type":"proceedings-article"},{"id":"pmh:oai:eprints.soton.ac.uk:455153","is_oa":false,"landing_page_url":"http://doi.org/10.1109/IECON43393.2020.9254696>).","pdf_url":null,"source":{"id":"https://openalex.org/S4306401019","display_name":"ePrints Soton (University of Southampton)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I43439940","host_organization_name":"University of Southampton","host_organization_lineage":["https://openalex.org/I43439940"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"Conference or Workshop Item"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1486438407","https://openalex.org/W1598153360","https://openalex.org/W1768036586","https://openalex.org/W1933528335","https://openalex.org/W1972431176","https://openalex.org/W2023284387","https://openalex.org/W2069438591","https://openalex.org/W2072093910","https://openalex.org/W2077258597","https://openalex.org/W2096323098","https://openalex.org/W2104735638","https://openalex.org/W2128126064","https://openalex.org/W2131588967","https://openalex.org/W2146832836","https://openalex.org/W2172217107","https://openalex.org/W2209243085","https://openalex.org/W2299003779","https://openalex.org/W2341604521","https://openalex.org/W2587574373","https://openalex.org/W2594981614","https://openalex.org/W2621227348","https://openalex.org/W2735338646","https://openalex.org/W4242059591","https://openalex.org/W6629222423","https://openalex.org/W6640473678","https://openalex.org/W6668020711","https://openalex.org/W6668247674","https://openalex.org/W6679774218","https://openalex.org/W6688231914","https://openalex.org/W6697723053"],"related_works":["https://openalex.org/W2037661079","https://openalex.org/W2339191433","https://openalex.org/W4287817191","https://openalex.org/W4298800952","https://openalex.org/W2039582600","https://openalex.org/W1992569127","https://openalex.org/W172284633","https://openalex.org/W4380551899","https://openalex.org/W2601990241","https://openalex.org/W3014544237"],"abstract_inverted_index":{"Rehabilitation":[0],"is":[1,59,69,92,112,121,126,138,149],"essential":[2],"to":[3,19,74],"recover":[4],"the":[5,21,25,46,55,66,82,95,98,153,159,164,168,177],"motor":[6],"function":[7],"of":[8,54,97,104,119],"patients":[9],"after":[10],"stroke.":[11],"In":[12,49,63],"clinic":[13],"cure,":[14],"voluntary":[15,34,84,107],"movements":[16,35,85,108],"are":[17,36,172],"encouraged":[18],"accelerate":[20],"recovery.":[22],"However,":[23],"for":[24,106],"rehabilitation":[26,68,99],"system":[27],"based":[28,151],"on":[29,152],"functional":[30],"electrical":[31],"stimulation":[32],"(FES),":[33],"unpredictable":[37],"and":[38,72,86,109,123,161,174],"act":[39],"as":[40,94],"input":[41],"disturbance,":[42],"which":[43,156],"would":[44],"reduce":[45],"control":[47,100,136],"precision.":[48],"addition,":[50],"an":[51],"accurate":[52],"model":[53,87,110],"human":[56],"musculoskeletal":[57],"dynamics":[58],"usually":[60],"not":[61],"available.":[62],"this":[64],"paper,":[65],"upper-limb":[67],"described":[70],"first":[71],"simplified":[73],"a":[75,124,143],"linear":[76],"nominal":[77,154],"model.":[78],"To":[79,128,166],"deal":[80],"with":[81,141],"aperiodic":[83],"uncertainty,":[88],"disturbance":[89],"observer":[90],"(DOB)":[91],"introduced":[93],"inner-loop":[96],"system.":[101],"The":[102,117],"suppression":[103],"DOB":[105,120],"uncertainty":[111],"analysed":[113],"in":[114,176],"frequency":[115],"domain.":[116],"stability":[118],"discussed":[122],"criterion":[125],"given.":[127],"achieve":[129],"high":[130],"precision":[131],"tracking":[132],"control,":[133],"iterative":[134],"learning":[135],"(ILC)":[137],"employed.":[139],"Combined":[140],"DOB,":[142],"variant":[144],"gain":[145],"gradient":[146],"ILC":[147],"method":[148],"designed":[150],"model,":[155],"could":[157],"enhance":[158],"performance":[160],"speed":[162],"up":[163],"convergence.":[165],"validate":[167],"proposed":[169],"methods,":[170],"simulations":[171],"performed":[173],"compared":[175],"end.":[178]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"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"}