{"id":"https://openalex.org/W3093966514","doi":"https://doi.org/10.1109/jas.2020.1003351","title":"Neural-network-based nonlinear model predictive tracking control of a pneumatic muscle actuator-driven exoskeleton","display_name":"Neural-network-based nonlinear model predictive tracking control of a pneumatic muscle actuator-driven exoskeleton","publication_year":2020,"publication_date":"2020-10-21","ids":{"openalex":"https://openalex.org/W3093966514","doi":"https://doi.org/10.1109/jas.2020.1003351","mag":"3093966514"},"language":"en","primary_location":{"id":"doi:10.1109/jas.2020.1003351","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jas.2020.1003351","pdf_url":null,"source":{"id":"https://openalex.org/S2484288132","display_name":"IEEE/CAA Journal of Automatica Sinica","issn_l":"2329-9266","issn":["2329-9266","2329-9274"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE/CAA Journal of Automatica Sinica","raw_type":"journal-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/A5066499031","display_name":"Yu Cao","orcid":"https://orcid.org/0000-0002-3486-5518"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Cao","raw_affiliation_strings":["Key Laboratory of Image Processing and Intelligent Control, School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan 430074, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Image Processing and Intelligent Control, School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan 430074, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066790771","display_name":"Jian Huang","orcid":"https://orcid.org/0000-0002-6267-8824"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Huang","raw_affiliation_strings":["Key Laboratory of Image Processing and Intelligent Control, School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan 430074, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Image Processing and Intelligent Control, School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan 430074, China","institution_ids":["https://openalex.org/I47720641"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I47720641"],"apc_list":null,"apc_paid":null,"fwci":3.7554,"has_fulltext":false,"cited_by_count":86,"citation_normalized_percentile":{"value":0.94060391,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"7","issue":"6","first_page":"1478","last_page":"1488"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9664999842643738,"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":0.9664999842643738,"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/T10977","display_name":"Optical Imaging and Spectroscopy Techniques","score":0.9635999798774719,"subfield":{"id":"https://openalex.org/subfields/2741","display_name":"Radiology, Nuclear Medicine and Imaging"},"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/T11778","display_name":"Electrical and Bioimpedance Tomography","score":0.9391000270843506,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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":0.7996453046798706},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7566572427749634},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5892725586891174},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5708346366882324},{"id":"https://openalex.org/keywords/powered-exoskeleton","display_name":"Powered exoskeleton","score":0.5551665425300598},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5355685949325562},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48957785964012146},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.48927590250968933},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.453105628490448},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4528322219848633},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.37968045473098755},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.27227523922920227},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25528401136398315},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.19219428300857544}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.7996453046798706},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7566572427749634},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5892725586891174},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5708346366882324},{"id":"https://openalex.org/C45391945","wikidata":"https://www.wikidata.org/wiki/Q938523","display_name":"Powered exoskeleton","level":3,"score":0.5551665425300598},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5355685949325562},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48957785964012146},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.48927590250968933},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.453105628490448},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4528322219848633},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.37968045473098755},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.27227523922920227},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25528401136398315},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.19219428300857544},{"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/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/jas.2020.1003351","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jas.2020.1003351","pdf_url":null,"source":{"id":"https://openalex.org/S2484288132","display_name":"IEEE/CAA Journal of Automatica Sinica","issn_l":"2329-9266","issn":["2329-9266","2329-9274"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE/CAA Journal of Automatica Sinica","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/3","score":0.6100000143051147,"display_name":"Good health and well-being"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1493333755","https://openalex.org/W1587019244","https://openalex.org/W1633007112","https://openalex.org/W1964542930","https://openalex.org/W1973613062","https://openalex.org/W1978956894","https://openalex.org/W2026104641","https://openalex.org/W2028678875","https://openalex.org/W2047139463","https://openalex.org/W2054217036","https://openalex.org/W2056625347","https://openalex.org/W2058804598","https://openalex.org/W2070122598","https://openalex.org/W2079391994","https://openalex.org/W2084001690","https://openalex.org/W2113350326","https://openalex.org/W2128904261","https://openalex.org/W2132660967","https://openalex.org/W2132773469","https://openalex.org/W2138552054","https://openalex.org/W2203022174","https://openalex.org/W2343277025","https://openalex.org/W2343472016","https://openalex.org/W2419095482","https://openalex.org/W2514523983","https://openalex.org/W2546451873","https://openalex.org/W2583278904","https://openalex.org/W2766201984","https://openalex.org/W2779129326","https://openalex.org/W2795105096","https://openalex.org/W2829536470","https://openalex.org/W2895302821","https://openalex.org/W2896381947","https://openalex.org/W2897791698","https://openalex.org/W2942038676","https://openalex.org/W2982586672","https://openalex.org/W3030068428"],"related_works":["https://openalex.org/W1989011507","https://openalex.org/W2908002960","https://openalex.org/W2808226217","https://openalex.org/W2015794229","https://openalex.org/W2893851384","https://openalex.org/W2780323031","https://openalex.org/W2753647732","https://openalex.org/W4388283394","https://openalex.org/W2120000215","https://openalex.org/W2062010076"],"abstract_inverted_index":{"Pneumatic":[0],"muscle":[1],"actuators":[2],"(":[3,67,84],"PMAs":[4,39],")":[5,69,86],"are":[6,48,135,182],"compliant":[7],"and":[8,43,70,107,157,180,192],"suitable":[9],"for":[10,92],"robotic":[11,56],"devices":[12],"that":[13],"have":[14,40],"been":[15],"shown":[16],"to":[17,33,87,152,184],"be":[18],"effective":[19],"in":[20,51],"assisting":[21],"patients":[22],"with":[23,197],"neurologic":[24],"injuries,":[25,31],"such":[26],"as":[27],"strokes,":[28],"spinal":[29],"cord":[30],"etc.,":[32,45],"accomplish":[34],"rehabilitation":[35],"tasks.":[36],"However,":[37],"because":[38],"nonlinearities,":[41],"hysteresis,":[42],"uncertainties,":[44],"complex":[46],"mechanisms":[47],"rarely":[49],"involved":[50],"the":[52,74,101,104,110,114,125,128,139,144,154,159,165,171,186,190],"study":[53],"of":[54,73,100,109,127,132,143,164,175,189],"PMA-driven":[55,94],"systems.":[57],"In":[58],"this":[59],"paper,":[60],"we":[61],"use":[62],"nonlinear":[63,120],"model":[64],"predictive":[65],"control":[66,160],"NMPC":[68],"an":[71,79],"extension":[72],"echo":[75,80],"state":[76,81],"network":[77],"called":[78],"Gaussian":[82],"process":[83],"ESGP":[85,172,191],"design":[88,126],"a":[89,93],"tracking":[90],"controller":[91],"lower":[95],"limb":[96],"exoskeleton.":[97],"The":[98,162],"dynamics":[99],"system":[102,115,167,177],"include":[103],"PMA":[105],"actuation":[106],"mechanism":[108],"leg":[111,133],"orthoses;":[112],"thus,":[113],"is":[116,150,168,173],"represented":[117],"by":[118],"two":[119],"uncertain":[121],"subsystems.":[122],"To":[123],"facilitate":[124],"controller,":[129],"joint":[130],"angles":[131],"orthoses":[134],"forecasted":[136],"based":[137],"on":[138],"universal":[140],"approximation":[141,187],"ability":[142,188],"ESGP.":[145],"A":[146],"gradient":[147],"descent":[148],"algorithm":[149],"employed":[151],"solve":[153],"optimization":[155],"problem":[156],"generate":[158],"signal.":[161],"stability":[163],"closed-loop":[166],"guaranteed":[169],"when":[170],"capable":[174],"approximating":[176],"dynamics.":[178],"Simulations":[179],"experiments":[181],"conducted":[183],"verify":[185],"achieve":[193],"gait":[194],"pattern":[195],"training":[196],"four":[198],"healthy":[199],"subjects.":[200]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":22},{"year":2024,"cited_by_count":16},{"year":2023,"cited_by_count":14},{"year":2022,"cited_by_count":11},{"year":2021,"cited_by_count":18},{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
