{"id":"https://openalex.org/W3003260805","doi":"https://doi.org/10.1109/iros40897.2019.8968055","title":"A Unified Active Assistance Control Framework of Hip Exoskeleton for Walking and Balance Assistance","display_name":"A Unified Active Assistance Control Framework of Hip Exoskeleton for Walking and Balance Assistance","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W3003260805","doi":"https://doi.org/10.1109/iros40897.2019.8968055","mag":"3003260805"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8968055","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968055","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 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/A5082214676","display_name":"Shiyin Qiu","orcid":"https://orcid.org/0000-0002-7098-0310"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shiyin Qiu","raw_affiliation_strings":["State Key Laboratory of Robotics and System, School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101729383","display_name":"Wei Guo","orcid":"https://orcid.org/0000-0002-8461-8902"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Guo","raw_affiliation_strings":["State Key Laboratory of Robotics and System, School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100399553","display_name":"Pengfei Wang","orcid":"https://orcid.org/0000-0002-3061-9897"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Pengfei Wang","raw_affiliation_strings":["State Key Laboratory of Robotics and System, School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100405442","display_name":"Fei Chen","orcid":"https://orcid.org/0000-0003-4397-0931"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Fei Chen","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, 30, Genova, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, 30, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008850130","display_name":"Fusheng Zha","orcid":"https://orcid.org/0000-0001-9695-1940"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fusheng Zha","raw_affiliation_strings":["State Key Laboratory of Robotics and System, School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100327898","display_name":"Xin Wang","orcid":"https://orcid.org/0000-0002-1251-9040"},"institutions":[{"id":"https://openalex.org/I4210159500","display_name":"Shenzhen Academy of Aerospace Technology","ror":"https://ror.org/05etzsm06","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210159500"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xin Wang","raw_affiliation_strings":["Shenzhen Academy of Aerospace Technology, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shenzhen Academy of Aerospace Technology, Shenzhen, China","institution_ids":["https://openalex.org/I4210159500"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032007054","display_name":"Jing Deng","orcid":"https://orcid.org/0000-0002-6745-9559"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jing Deng","raw_affiliation_strings":["State Key Laboratory of Robotics and System, School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.1994,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.53228952,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9998000264167786,"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":0.9998000264167786,"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/T10114","display_name":"Balance, Gait, and Falls Prevention","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/3612","display_name":"Physical Therapy, Sports Therapy and Rehabilitation"},"field":{"id":"https://openalex.org/fields/36","display_name":"Health Professions"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9959999918937683,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.8817468881607056},{"id":"https://openalex.org/keywords/balance","display_name":"Balance (ability)","score":0.7505468726158142},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5188235640525818},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.5090674757957458},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.44140398502349854},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32689857482910156},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.16377216577529907},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14044374227523804}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.8817468881607056},{"id":"https://openalex.org/C168031717","wikidata":"https://www.wikidata.org/wiki/Q1530280","display_name":"Balance (ability)","level":2,"score":0.7505468726158142},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5188235640525818},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.5090674757957458},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.44140398502349854},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32689857482910156},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.16377216577529907},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14044374227523804}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros40897.2019.8968055","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968055","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/17","display_name":"Partnerships for the goals","score":0.44999998807907104}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1536806151","https://openalex.org/W1580648284","https://openalex.org/W1997861712","https://openalex.org/W2001757193","https://openalex.org/W2070054839","https://openalex.org/W2073801600","https://openalex.org/W2089826029","https://openalex.org/W2102159351","https://openalex.org/W2138300314","https://openalex.org/W2140887880","https://openalex.org/W2147198338","https://openalex.org/W2154128597","https://openalex.org/W2156516508","https://openalex.org/W2169410184","https://openalex.org/W2171323125","https://openalex.org/W2280792794","https://openalex.org/W2289848289","https://openalex.org/W2539534359","https://openalex.org/W2587131106","https://openalex.org/W2613688818","https://openalex.org/W2781999526","https://openalex.org/W2790687804","https://openalex.org/W2808873682","https://openalex.org/W2911204775","https://openalex.org/W6696723776"],"related_works":["https://openalex.org/W2901258812","https://openalex.org/W2887985348","https://openalex.org/W2401700601","https://openalex.org/W3017269254","https://openalex.org/W2570835373","https://openalex.org/W2557545276","https://openalex.org/W4387054232","https://openalex.org/W2804557348","https://openalex.org/W2896763516","https://openalex.org/W3093756250"],"abstract_inverted_index":{"To":[0],"actively":[1],"assist":[2],"human":[3,50,153,168],"walking":[4,55,75,105,112,139,145],"and":[5,56,76,123,143,172],"balance":[6,57,77,170],"recovery,":[7],"a":[8,38,156],"unified":[9,81],"active":[10,32,69,74,82],"assistance":[11,33,70,83,134],"control":[12,84,100],"framework":[13,85,101],"of":[14,26,31,49,97,109,119,126,135,177,180],"the":[15,24,29,47,67,80,90,95,98,110,116,124,133,144,152,175,181],"hip":[16,51,127,136],"exoskeleton":[17,165],"is":[18,34,43,63,86,102,121,130],"proposed":[19,44,99],"in":[20],"this":[21,27],"paper.":[22],"At":[23],"beginning":[25],"paper,":[28],"condition":[30],"analyzed.":[35],"And":[36],"then,":[37],"novel":[39],"virtual":[40,60,91],"stiffness":[41,61,92],"model":[42,62],"based":[45,88],"on":[46,89],"analysis":[48],"joint":[52,128],"torque":[53,71],"during":[54,162],"recovery.":[58],"The":[59,107,138],"utilized":[64],"to":[65],"generate":[66],"desired":[68],"profile":[72],"for":[73],"assistance.":[78],"Next,":[79],"established":[87],"model.":[93],"Finally,":[94],"effectiveness":[96],"demonstrated":[103],"by":[104],"experiments.":[106],"results":[108],"forward":[111,140,157,163],"experiment":[113],"show":[114,149],"that":[115,150],"muscle":[117],"effort":[118],"iliopsoas":[120],"reduced":[122],"amplitude":[125],"motion":[129],"enlarged":[131],"with":[132],"exoskeleton.":[137],"pull":[141,147],"experiments":[142,148],"backward":[146,159],"when":[151],"suffers":[154],"from":[155],"or":[158],"disturbance":[160],"force":[161],"walking,":[164],"can":[166,173],"help":[167],"regain":[169],"faster":[171],"enlarge":[174],"margin":[176],"stability":[178],"(MoS)":[179],"human.":[182]},"counts_by_year":[{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
