{"id":"https://openalex.org/W2910921989","doi":"https://doi.org/10.1109/iros.2018.8594244","title":"An Assist-as-Needed Velocity Field Control Scheme for Rehabilitation Robots","display_name":"An Assist-as-Needed Velocity Field Control Scheme for Rehabilitation Robots","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2910921989","doi":"https://doi.org/10.1109/iros.2018.8594244","mag":"2910921989"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2018.8594244","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8594244","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5083543090","display_name":"Hamed Jabbari Asl","orcid":"https://orcid.org/0000-0002-3040-8539"},"institutions":[{"id":"https://openalex.org/I4840577","display_name":"Toyota Technological Institute","ror":"https://ror.org/001hv0k59","country_code":"JP","type":"education","lineage":["https://openalex.org/I4840577"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Hamed Jabbari Asl","raw_affiliation_strings":["Department of Advanced Science and Technology, Toyota Technological Institute, Tempaku-ku, Nagoya, japan"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Science and Technology, Toyota Technological Institute, Tempaku-ku, Nagoya, japan","institution_ids":["https://openalex.org/I4840577"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036052448","display_name":"Tatsuo Narikiyo","orcid":"https://orcid.org/0000-0002-1610-7270"},"institutions":[{"id":"https://openalex.org/I4840577","display_name":"Toyota Technological Institute","ror":"https://ror.org/001hv0k59","country_code":"JP","type":"education","lineage":["https://openalex.org/I4840577"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tatsuo Narikiyo","raw_affiliation_strings":["Department of Advanced Science and Technology, Toyota Technological Institute, Tempaku-ku, Nagoya, japan"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Science and Technology, Toyota Technological Institute, Tempaku-ku, Nagoya, japan","institution_ids":["https://openalex.org/I4840577"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053280611","display_name":"Michihiro Kawanishi","orcid":"https://orcid.org/0000-0003-4013-1593"},"institutions":[{"id":"https://openalex.org/I4840577","display_name":"Toyota Technological Institute","ror":"https://ror.org/001hv0k59","country_code":"JP","type":"education","lineage":["https://openalex.org/I4840577"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Michihiro Kawanishi","raw_affiliation_strings":["Department of Advanced Science and Technology, Toyota Technological Institute, Tempaku-ku, Nagoya, japan"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Science and Technology, Toyota Technological Institute, Tempaku-ku, Nagoya, japan","institution_ids":["https://openalex.org/I4840577"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5083543090"],"corresponding_institution_ids":["https://openalex.org/I4840577"],"apc_list":null,"apc_paid":null,"fwci":1.3075,"has_fulltext":false,"cited_by_count":26,"citation_normalized_percentile":{"value":0.79493576,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"3322","last_page":"3327"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9876000285148621,"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":0.9832000136375427,"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/control-theory","display_name":"Control theory (sociology)","score":0.7484989762306213},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6542242765426636},{"id":"https://openalex.org/keywords/forgetting","display_name":"Forgetting","score":0.5761980414390564},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5590791702270508},{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.5453401207923889},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5267091393470764},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.5155813097953796},{"id":"https://openalex.org/keywords/property","display_name":"Property (philosophy)","score":0.4958418309688568},{"id":"https://openalex.org/keywords/term","display_name":"Term (time)","score":0.4823576807975769},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.47670266032218933},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.4715951383113861},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.4580047130584717},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4517691135406494},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.4510662853717804},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4466787874698639},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.44094550609588623},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.4198746681213379},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3966333568096161},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33586037158966064},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.24789851903915405},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17350894212722778},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1455683708190918}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7484989762306213},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6542242765426636},{"id":"https://openalex.org/C7149132","wikidata":"https://www.wikidata.org/wiki/Q1377840","display_name":"Forgetting","level":2,"score":0.5761980414390564},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5590791702270508},{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.5453401207923889},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5267091393470764},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.5155813097953796},{"id":"https://openalex.org/C189950617","wikidata":"https://www.wikidata.org/wiki/Q937228","display_name":"Property (philosophy)","level":2,"score":0.4958418309688568},{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.4823576807975769},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.47670266032218933},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.4715951383113861},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.4580047130584717},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4517691135406494},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.4510662853717804},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4466787874698639},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.44094550609588623},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.4198746681213379},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3966333568096161},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33586037158966064},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.24789851903915405},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17350894212722778},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1455683708190918},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"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/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"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/iros.2018.8594244","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8594244","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.8100000023841858}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W575905749","https://openalex.org/W1517236425","https://openalex.org/W1965977540","https://openalex.org/W1967377907","https://openalex.org/W1978023077","https://openalex.org/W2066751209","https://openalex.org/W2072395926","https://openalex.org/W2102000567","https://openalex.org/W2133322641","https://openalex.org/W2135667864","https://openalex.org/W2141412077","https://openalex.org/W2147582248","https://openalex.org/W2150753996","https://openalex.org/W2163208146","https://openalex.org/W2165867693","https://openalex.org/W2280792794","https://openalex.org/W2421101485","https://openalex.org/W2734547586","https://openalex.org/W2742744172","https://openalex.org/W2752057039","https://openalex.org/W2765524390","https://openalex.org/W2794047987","https://openalex.org/W4246923680"],"related_works":["https://openalex.org/W2887985348","https://openalex.org/W2901258812","https://openalex.org/W3017269254","https://openalex.org/W2570835373","https://openalex.org/W2401700601","https://openalex.org/W2557545276","https://openalex.org/W4387054232","https://openalex.org/W3198063775","https://openalex.org/W1553696796","https://openalex.org/W2593563634"],"abstract_inverted_index":{"This":[0],"paper":[1],"addresses":[2],"the":[3,24,50,57,61,75,84,94,97,107,114],"problem":[4],"of":[5,22,38,60,70,87,96,106],"assist-as-needed":[6],"(AAN)":[7],"control":[8,27,77,102],"for":[9,56],"rehabilitation":[10],"robots.":[11],"To":[12],"achieve":[13],"a":[14,20,39,44,71,80,100,120],"motion":[15],"which":[16],"is":[17,28,52,66,111],"not":[18],"explicitly":[19],"function":[21,73],"time,":[23],"velocity":[25],"field":[26],"considered":[29],"in":[30,74,83],"this":[31],"paper.":[32],"The":[33,63,90,104],"proposed":[34,108],"new":[35],"controller":[36,92],"consists":[37],"proportional-like":[40],"feedback":[41,76],"term":[42,78],"and":[43,79,116],"neural":[45],"network":[46],"(NN)":[47],"term,":[48],"where":[49],"later":[51],"exploited":[53],"to":[54],"compensate":[55],"dynamic":[58],"uncertainties":[59],"system.":[62],"AAN":[64,109],"property":[65],"facilitated":[67],"by":[68],"means":[69],"dead-zone":[72],"forgetting":[81],"factor":[82],"adaptation":[85],"law":[86],"NN":[88],"component.":[89],"designed":[91],"guarantees":[93],"stability":[95],"system":[98],"with":[99],"bounded":[101],"command.":[103],"performance":[105],"scheme":[110],"validated":[112],"through":[113],"simulation":[115],"experiment":[117],"conducted":[118],"on":[119],"lower-limb":[121],"exoskeleton.":[122]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}