{"id":"https://openalex.org/W4206903421","doi":"https://doi.org/10.1109/lra.2022.3144537","title":"Assimilation Control of a Robotic Exoskeleton for Physical Human-Robot Interaction","display_name":"Assimilation Control of a Robotic Exoskeleton for Physical Human-Robot Interaction","publication_year":2022,"publication_date":"2022-01-21","ids":{"openalex":"https://openalex.org/W4206903421","doi":"https://doi.org/10.1109/lra.2022.3144537"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3144537","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3144537","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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 Robotics and Automation Letters","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/A5060308020","display_name":"Guoxin Li","orcid":"https://orcid.org/0000-0001-8384-0002"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Guoxin Li","raw_affiliation_strings":["Department of Automation, University of Science and Technology of China, Hefei, China","Institute of Artificial Intelligence, Hefei Comprehensive National Science Center, Hefei, China"],"affiliations":[{"raw_affiliation_string":"Department of Automation, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]},{"raw_affiliation_string":"Institute of Artificial Intelligence, Hefei Comprehensive National Science Center, Hefei, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100450024","display_name":"Zhijun Li","orcid":"https://orcid.org/0000-0002-3909-488X"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhijun Li","raw_affiliation_strings":["Department of Automation, University of Science and Technology of China, Hefei, China","Institute of Artificial Intelligence, Hefei Comprehensive National Science Center, Hefei, China"],"affiliations":[{"raw_affiliation_string":"Department of Automation, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]},{"raw_affiliation_string":"Institute of Artificial Intelligence, Hefei Comprehensive National Science Center, Hefei, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5018344952","display_name":"Zhen Kan","orcid":"https://orcid.org/0000-0003-2069-9544"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhen Kan","raw_affiliation_strings":["Department of Automation, University of Science and Technology of China, Hefei, China","Institute of Artificial Intelligence, Hefei Comprehensive National Science Center, Hefei, China"],"affiliations":[{"raw_affiliation_string":"Department of Automation, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]},{"raw_affiliation_string":"Institute of Artificial Intelligence, Hefei Comprehensive National Science Center, Hefei, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5060308020"],"corresponding_institution_ids":["https://openalex.org/I126520041"],"apc_list":null,"apc_paid":null,"fwci":3.0242,"has_fulltext":false,"cited_by_count":39,"citation_normalized_percentile":{"value":0.91694653,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"7","issue":"2","first_page":"2977","last_page":"2984"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9977999925613403,"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":0.9977999925613403,"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":0.9930999875068665,"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":0.9829999804496765,"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/robot","display_name":"Robot","score":0.6544350385665894},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6110642552375793},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5390099883079529},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5329773426055908},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.476712167263031},{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.4728165864944458},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.46804022789001465},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.4667304754257202},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.44175460934638977},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.435573011636734},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4330222010612488},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.43075430393218994},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4165836274623871},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.38462725281715393},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3559812903404236},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3302030861377716},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.24935278296470642},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21032816171646118}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6544350385665894},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6110642552375793},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5390099883079529},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5329773426055908},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.476712167263031},{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.4728165864944458},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.46804022789001465},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.4667304754257202},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.44175460934638977},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.435573011636734},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4330222010612488},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.43075430393218994},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4165836274623871},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.38462725281715393},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3559812903404236},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3302030861377716},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.24935278296470642},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21032816171646118},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/lra.2022.3144537","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3144537","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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 Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Partnerships for the goals","score":0.4000000059604645,"id":"https://metadata.un.org/sdg/17"}],"awards":[{"id":"https://openalex.org/G1432229094","display_name":null,"funder_award_id":"U1913601","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W89510016","https://openalex.org/W1156364936","https://openalex.org/W1967377907","https://openalex.org/W1997932767","https://openalex.org/W2038581140","https://openalex.org/W2077177611","https://openalex.org/W2083483041","https://openalex.org/W2098646051","https://openalex.org/W2136312653","https://openalex.org/W2293200354","https://openalex.org/W2342495668","https://openalex.org/W2346348157","https://openalex.org/W2511957348","https://openalex.org/W2593425479","https://openalex.org/W2624380632","https://openalex.org/W2766203889","https://openalex.org/W2767704770","https://openalex.org/W2770045867","https://openalex.org/W2784881541","https://openalex.org/W2792539092","https://openalex.org/W2795105096","https://openalex.org/W2799280697","https://openalex.org/W2887687214","https://openalex.org/W2897873640","https://openalex.org/W2907920236","https://openalex.org/W2913541242","https://openalex.org/W2914029293","https://openalex.org/W2914429279","https://openalex.org/W2963507484","https://openalex.org/W2970514507","https://openalex.org/W2970652025","https://openalex.org/W3004986371","https://openalex.org/W3005217345","https://openalex.org/W3014528623","https://openalex.org/W3032210229","https://openalex.org/W3035497536","https://openalex.org/W3045476943","https://openalex.org/W3059965140","https://openalex.org/W3088224066","https://openalex.org/W3104471247","https://openalex.org/W3108250615","https://openalex.org/W3176563613","https://openalex.org/W3191811648","https://openalex.org/W3207311111","https://openalex.org/W4252655862"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W2917514722","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W1561646347","https://openalex.org/W2356867392","https://openalex.org/W2782776446","https://openalex.org/W2155948905","https://openalex.org/W1971413691","https://openalex.org/W3043170174"],"abstract_inverted_index":{"The":[0,116],"ability":[1],"of":[2,78],"human":[3],"operators":[4],"in":[5,39,127,172],"estimating":[6],"the":[7,35,40,45,50,55,64,67,73,76,79,85,104,120,125,160],"partners\u2019":[8],"motion":[9],"intention":[10],"and":[11,58,84,112,154],"utilizing":[12],"it":[13],"for":[14],"collaboration":[15],"brings":[16],"valuable":[17],"enlightenment":[18],"to":[19,48,94,102,106,136,147],"human-robot":[20,80],"systems.":[21],"Motivated":[22],"by":[23,72,158],"these":[24],"observations,":[25],"this":[26],"letter":[27],"introduces":[28],"an":[29,97],"assimilation":[30,121],"control":[31,74,122],"method":[32,123],"that":[33,66],"reshapes":[34],"physical":[36],"interaction":[37,41,56,90,156],"trajectory":[38,162],"task,":[42],"which":[43],"enables":[44],"exoskeleton":[46],"robot":[47,105],"estimate":[49],"subject\u2019s":[51],"virtual":[52,68],"target":[53,69],"from":[54,92],"force":[57,164],"adapt":[59],"its":[60],"own":[61],"behavior.":[62],"Under":[63],"assumption":[65],"is":[70,82,100,145],"determined":[71],"gains,":[75],"stability":[77],"system":[81],"guaranteed,":[83],"proposed":[86],"scheme":[87],"realizes":[88],"continuous":[89,168],"behaviors":[91,157],"cooperation":[93],"competition.":[95],"Then":[96],"adaptive":[98],"controller":[99],"designed":[101],"enable":[103],"directly":[107],"deal":[108],"with":[109,134,140],"uncertain":[110],"dynamics":[111],"joint":[113],"space":[114],"constraints.":[115],"experiment":[117],"verifies":[118],"how":[119],"assists":[124],"subjects":[126],"a":[128],"collaborative":[129],"execution":[130],"or":[131],"gradually":[132],"competes":[133],"them":[135],"avoid":[137],"collisions.":[138],"Compared":[139],"related":[141],"literature,":[142],"our":[143],"approach":[144],"able":[146],"realize":[148],"safe":[149],"manipulation":[150],"(e.g.,":[151],"obstacle":[152],"avoidance)":[153],"broader":[155],"reshaping":[159],"interactive":[161],"using":[163],"feedback":[165],"only,":[166],"without":[167],"manual":[169],"guidance":[170],"as":[171],"many":[173],"existing":[174],"methods.":[175]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":15},{"year":2022,"cited_by_count":6}],"updated_date":"2026-04-15T08:11:43.952461","created_date":"2025-10-10T00:00:00"}