{"id":"https://openalex.org/W4416749875","doi":"https://doi.org/10.1109/iros60139.2025.11247416","title":"Using Upper Limb Carrying Exoskeleton with Dual-Model Torque Control Strategy to Reduce Load Impact","display_name":"Using Upper Limb Carrying Exoskeleton with Dual-Model Torque Control Strategy to Reduce Load Impact","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416749875","doi":"https://doi.org/10.1109/iros60139.2025.11247416"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11247416","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247416","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5019487028","display_name":"Daming Liu","orcid":"https://orcid.org/0000-0002-5408-249X"},"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":"Daming Liu","raw_affiliation_strings":["State Key Laboratory of Robotics and Systems, Harbin Institute of Technology,Harbin,China,150000"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology,Harbin,China,150000","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100339212","display_name":"Ye Li","orcid":"https://orcid.org/0000-0002-2379-5497"},"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":"Ye Li","raw_affiliation_strings":["School of Astronautics, Harbin Institute of Technology,Harbin,China,150000"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Astronautics, Harbin Institute of Technology,Harbin,China,150000","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073412578","display_name":"Junchen Liu","orcid":"https://orcid.org/0000-0003-2765-9780"},"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":"Junchen Liu","raw_affiliation_strings":["State Key Laboratory of Robotics and Systems, Harbin Institute of Technology,Harbin,China,150000"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology,Harbin,China,150000","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114949740","display_name":"Z.R. Wang","orcid":"https://orcid.org/0009-0006-7785-6597"},"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":"Ziqi Wang","raw_affiliation_strings":["State Key Laboratory of Robotics and Systems, Harbin Institute of Technology,Harbin,China,150000"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology,Harbin,China,150000","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102017937","display_name":"Jie Zhao","orcid":"https://orcid.org/0000-0003-2573-0088"},"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":"Jie Zhao","raw_affiliation_strings":["State Key Laboratory of Robotics and Systems, Harbin Institute of Technology,Harbin,China,150000"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology,Harbin,China,150000","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054543629","display_name":"Yanhe Zhu","orcid":"https://orcid.org/0000-0002-1960-6278"},"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":"Yanhe Zhu","raw_affiliation_strings":["State Key Laboratory of Robotics and Systems, Harbin Institute of Technology,Harbin,China,150000"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology,Harbin,China,150000","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"8224","last_page":"8231"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9593999981880188,"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":0.9593999981880188,"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":0.02449999935925007,"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":0.004100000020116568,"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":0.8355000019073486},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6833000183105469},{"id":"https://openalex.org/keywords/reduction","display_name":"Reduction (mathematics)","score":0.4426000118255615},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.43560001254081726},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.43560001254081726},{"id":"https://openalex.org/keywords/elbow","display_name":"Elbow","score":0.4334000051021576},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.4221999943256378},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.38580000400543213}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.8355000019073486},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6833000183105469},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6193000078201294},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.4426000118255615},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.43560001254081726},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.43560001254081726},{"id":"https://openalex.org/C2781184374","wikidata":"https://www.wikidata.org/wiki/Q42586","display_name":"Elbow","level":2,"score":0.4334000051021576},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.4221999943256378},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.38580000400543213},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3847000002861023},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3653999865055084},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3513999879360199},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3294000029563904},{"id":"https://openalex.org/C45391945","wikidata":"https://www.wikidata.org/wiki/Q938523","display_name":"Powered exoskeleton","level":3,"score":0.2989000082015991},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.29820001125335693},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.2784000039100647},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.2761000096797943},{"id":"https://openalex.org/C2777515770","wikidata":"https://www.wikidata.org/wiki/Q507369","display_name":"Electromyography","level":2,"score":0.2736000120639801},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27000001072883606},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2678000032901764},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.2678000032901764},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.2605000138282776},{"id":"https://openalex.org/C170700871","wikidata":"https://www.wikidata.org/wiki/Q193378","display_name":"Biomechanics","level":2,"score":0.2605000138282776},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.2605000138282776},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.25450000166893005},{"id":"https://openalex.org/C3019828297","wikidata":"https://www.wikidata.org/wiki/Q575614","display_name":"Load sharing","level":2,"score":0.250900000333786}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11247416","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247416","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321940","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W2081263405","https://openalex.org/W2103403570","https://openalex.org/W2196056879","https://openalex.org/W2754488602","https://openalex.org/W2910932367","https://openalex.org/W2949794134","https://openalex.org/W3107119331","https://openalex.org/W3124892997","https://openalex.org/W3204092239","https://openalex.org/W4210637929","https://openalex.org/W4213159077","https://openalex.org/W4223558580","https://openalex.org/W4226437765","https://openalex.org/W4294000743","https://openalex.org/W4312265843","https://openalex.org/W4313647133","https://openalex.org/W4321429533","https://openalex.org/W4367315119","https://openalex.org/W4388430275","https://openalex.org/W4399562646","https://openalex.org/W4399618574","https://openalex.org/W4401018368","https://openalex.org/W4403936977","https://openalex.org/W4404505696"],"related_works":[],"abstract_inverted_index":{"Exoskeleton":[0],"technology":[1],"holds":[2],"significant":[3],"promise":[4],"within":[5],"the":[6,119],"human-centric":[7],"paradigm":[8],"of":[9,75],"Industry":[10],"5.0":[11],"for":[12,124],"mitigating":[13],"work-related":[14],"musculoskeletal":[15],"disorders":[16],"(WMSDs).":[17],"However,":[18],"existing":[19],"systems":[20],"often":[21],"struggle":[22],"with":[23,60],"mismatched":[24],"assistive":[25,96],"torque":[26,70,97],"and":[27,72],"inefficient":[28],"human-machine":[29],"collaboration":[30],"under":[31,79,110],"dynamic":[32,76],"loading":[33],"conditions,":[34],"largely":[35],"due":[36],"to":[37,67,94,116],"insufficient":[38],"motion":[39],"intent":[40],"recognition":[41],"accuracy.":[42,99],"This":[43],"study":[44],"proposes":[45],"a":[46,54,61,85,111],"dual-model-based":[47],"multimodal":[48],"fusion":[49],"control":[50],"strategy":[51],"that":[52],"integrates":[53],"bidirectional":[55],"LSTM":[56],"neural":[57],"network":[58],"(Bi-LSTM)":[59],"transformer-based":[62],"multi-task":[63],"learning":[64],"model":[65],"(MTL)":[66],"enable":[68],"real-time":[69],"compensation":[71],"accurate":[73],"prediction":[74,98],"load":[77,114],"mass":[78],"varying":[80],"conditions.":[81],"The":[82],"team":[83],"developed":[84],"lightweight":[86],"elbow":[87],"joint":[88],"exoskeleton":[89],"prototype,":[90],"leveraging":[91],"multi-modal":[92],"information":[93],"enhance":[95],"Experimental":[100],"results":[101],"show":[102],"an":[103],"83.7%":[104],"reduction":[105],"in":[106],"agonist":[107],"muscle":[108],"activation":[109],"3.5":[112],"kg":[113],"compared":[115],"conditions":[117],"without":[118],"exoskeleton,":[120],"underscoring":[121],"its":[122],"potential":[123],"industrial":[125],"material":[126],"handling":[127],"scenarios.":[128]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-11-28T00:00:00"}
