{"id":"https://openalex.org/W4312510647","doi":"https://doi.org/10.1109/lra.2022.3229570","title":"Data-Driven Adaptive Iterative Learning Control of a Compliant Rehabilitation Robot for Repetitive Ankle Training","display_name":"Data-Driven Adaptive Iterative Learning Control of a Compliant Rehabilitation Robot for Repetitive Ankle Training","publication_year":2022,"publication_date":"2022-12-15","ids":{"openalex":"https://openalex.org/W4312510647","doi":"https://doi.org/10.1109/lra.2022.3229570"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3229570","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3229570","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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/A5061223996","display_name":"Kun Qian","orcid":"https://orcid.org/0000-0002-8719-1537"},"institutions":[{"id":"https://openalex.org/I130828816","display_name":"University of Leeds","ror":"https://ror.org/024mrxd33","country_code":"GB","type":"education","lineage":["https://openalex.org/I130828816"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Kun Qian","raw_affiliation_strings":["School of Electronic and Electrical Engineering, Faculty of Engineering, University of Leeds, Leeds, U.K"],"raw_orcid":"https://orcid.org/0000-0002-8719-1537","affiliations":[{"raw_affiliation_string":"School of Electronic and Electrical Engineering, Faculty of Engineering, University of Leeds, Leeds, U.K","institution_ids":["https://openalex.org/I130828816"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024394762","display_name":"Zhenghong Li","orcid":"https://orcid.org/0000-0003-2583-5082"},"institutions":[{"id":"https://openalex.org/I130828816","display_name":"University of Leeds","ror":"https://ror.org/024mrxd33","country_code":"GB","type":"education","lineage":["https://openalex.org/I130828816"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Zhenhong Li","raw_affiliation_strings":["School of Electronic and Electrical Engineering, Faculty of Engineering, University of Leeds, Leeds, U.K"],"raw_orcid":"https://orcid.org/0000-0003-2583-5082","affiliations":[{"raw_affiliation_string":"School of Electronic and Electrical Engineering, Faculty of Engineering, University of Leeds, Leeds, U.K","institution_ids":["https://openalex.org/I130828816"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050079548","display_name":"Zhiqiang Zhang","orcid":"https://orcid.org/0000-0003-0204-3867"},"institutions":[{"id":"https://openalex.org/I130828816","display_name":"University of Leeds","ror":"https://ror.org/024mrxd33","country_code":"GB","type":"education","lineage":["https://openalex.org/I130828816"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Zhiqiang Zhang","raw_affiliation_strings":["School of Electronic and Electrical Engineering, Faculty of Engineering, University of Leeds, Leeds, U.K"],"raw_orcid":"https://orcid.org/0000-0003-0204-3867","affiliations":[{"raw_affiliation_string":"School of Electronic and Electrical Engineering, Faculty of Engineering, University of Leeds, Leeds, U.K","institution_ids":["https://openalex.org/I130828816"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033635388","display_name":"Guqiang Li","orcid":"https://orcid.org/0000-0003-4768-668X"},"institutions":[{"id":"https://openalex.org/I134841294","display_name":"Binzhou Medical University","ror":"https://ror.org/008w1vb37","country_code":"CN","type":"education","lineage":["https://openalex.org/I134841294"]},{"id":"https://openalex.org/I151013683","display_name":"Shandong University of Aeronautics","ror":"https://ror.org/05frpfj73","country_code":"CN","type":"education","lineage":["https://openalex.org/I151013683"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guqiang Li","raw_affiliation_strings":["School of Rehabilitation Medicine, Binzhou Medical University, Yantai, China"],"raw_orcid":"https://orcid.org/0000-0003-4768-668X","affiliations":[{"raw_affiliation_string":"School of Rehabilitation Medicine, Binzhou Medical University, Yantai, China","institution_ids":["https://openalex.org/I134841294","https://openalex.org/I151013683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035866142","display_name":"Sheng Quan Xie","orcid":"https://orcid.org/0000-0003-2641-2620"},"institutions":[{"id":"https://openalex.org/I130828816","display_name":"University of Leeds","ror":"https://ror.org/024mrxd33","country_code":"GB","type":"education","lineage":["https://openalex.org/I130828816"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Sheng Quan Xie","raw_affiliation_strings":["School of Electronic and Electrical Engineering, Faculty of Engineering, University of Leeds, Leeds, U.K"],"raw_orcid":"https://orcid.org/0000-0003-2641-2620","affiliations":[{"raw_affiliation_string":"School of Electronic and Electrical Engineering, Faculty of Engineering, University of Leeds, Leeds, U.K","institution_ids":["https://openalex.org/I130828816"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.8797,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":{"value":0.8653433,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"8","issue":"2","first_page":"656","last_page":"663"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.992900013923645,"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"}},"topics":[{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.992900013923645,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9898999929428101,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9876999855041504,"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/iterative-learning-control","display_name":"Iterative learning control","score":0.7193419933319092},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6150954961776733},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5700873136520386},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5477359890937805},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5332084894180298},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.47223779559135437},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.4451509714126587},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.43033531308174133},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.4253338873386383},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.3711540102958679},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3698897361755371},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36117905378341675},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.08386105298995972}],"concepts":[{"id":"https://openalex.org/C117619785","wikidata":"https://www.wikidata.org/wiki/Q6094414","display_name":"Iterative learning control","level":3,"score":0.7193419933319092},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6150954961776733},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5700873136520386},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5477359890937805},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5332084894180298},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.47223779559135437},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.4451509714126587},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.43033531308174133},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.4253338873386383},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.3711540102958679},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3698897361755371},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36117905378341675},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.08386105298995972},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/lra.2022.3229570","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3229570","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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"},{"id":"pmh:oai:pure.atira.dk:openaire_cris_publications/0412534c-8484-43d1-80ea-76b6019f1bbb","is_oa":false,"landing_page_url":"https://research.manchester.ac.uk/en/publications/0412534c-8484-43d1-80ea-76b6019f1bbb","pdf_url":null,"source":{"id":"https://openalex.org/S4306400662","display_name":"Research Explorer (The University of Manchester)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I28407311","host_organization_name":"University of Manchester","host_organization_lineage":["https://openalex.org/I28407311"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Qian, K, Li, Z, Zhang, Z, Li, G & Xie, S Q 2023, 'Data-Driven Adaptive Iterative Learning Control of a Compliant Rehabilitation Robot for Repetitive Ankle Training', IEEE Robotics and Automation Letters, vol. 8, no. 2, pp. 656-663. https://doi.org/10.1109/LRA.2022.3229570, https://doi.org/10.1109/LRA.2022.3229570","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:eprints.whiterose.ac.uk:194377","is_oa":false,"landing_page_url":"https://eprints.whiterose.ac.uk/194377/6/RAL_22-2888_Final_Version.pdf","pdf_url":"https://eprints.whiterose.ac.uk/194377/6/RAL_22-2888_Final_Version.pdf","source":{"id":"https://openalex.org/S4306400854","display_name":"White Rose Research Online (University of Leeds, The University of Sheffield, University of York)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2800616092","host_organization_name":"White Rose University Consortium","host_organization_lineage":["https://openalex.org/I2800616092"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.699999988079071,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[{"id":"https://openalex.org/G2488836150","display_name":null,"funder_award_id":"EP/V057782/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G5445492989","display_name":null,"funder_award_id":"EP/S019219/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G8821762071","display_name":null,"funder_award_id":"EP/V057782/2","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1576669605","https://openalex.org/W1980567823","https://openalex.org/W1981740055","https://openalex.org/W1994470369","https://openalex.org/W2066207030","https://openalex.org/W2070322652","https://openalex.org/W2078959369","https://openalex.org/W2082022126","https://openalex.org/W2092912577","https://openalex.org/W2101130337","https://openalex.org/W2101892505","https://openalex.org/W2108303641","https://openalex.org/W2125609926","https://openalex.org/W2125818796","https://openalex.org/W2292771142","https://openalex.org/W2472926435","https://openalex.org/W2537878323","https://openalex.org/W2576732165","https://openalex.org/W2583278904","https://openalex.org/W2743463877","https://openalex.org/W2749189037","https://openalex.org/W2772360900","https://openalex.org/W2781895760","https://openalex.org/W2889055133","https://openalex.org/W2897791698","https://openalex.org/W2900447061","https://openalex.org/W2988191778","https://openalex.org/W3138593777","https://openalex.org/W3197807851","https://openalex.org/W4210646885"],"related_works":["https://openalex.org/W2761624296","https://openalex.org/W4386994694","https://openalex.org/W4388738109","https://openalex.org/W2362901947","https://openalex.org/W2362086884","https://openalex.org/W1606071314","https://openalex.org/W2350210972","https://openalex.org/W2369126164","https://openalex.org/W1482785882","https://openalex.org/W1814814472"],"abstract_inverted_index":{"This":[0],"letter":[1],"investigates":[2],"the":[3,28,40,43,52,83,100,106,128],"repetitive":[4],"range":[5],"of":[6,42,77,102,108],"motion":[7],"(ROM)":[8],"training":[9,53],"control":[10,109],"for":[11],"a":[12,55,79],"compliant":[13],"ankle":[14,29],"rehabilitation":[15],"robot":[16],"(CARR).":[17],"The":[18],"CARR":[19],"utilizes":[20],"four":[21],"pneumatic":[22],"muscle":[23],"(PM)":[24],"actuators":[25],"to":[26,98],"manipulate":[27],"with":[30,71,119,124],"three":[31],"rational":[32],"degree-of-freedoms":[33],"(DoFs)":[34],"and":[35,105],"soft":[36],"human-robot":[37],"interaction,":[38],"but":[39],"strong-nonlinearity":[41],"PM":[44,80],"actuator":[45],"makes":[46],"precise":[47],"tracking":[48,103,135],"difficult.":[49],"To":[50],"improve":[51],"effectiveness,":[54],"data-driven":[56,126],"adaptive":[57],"iterative":[58],"learning":[59],"controller":[60],"(DDAILC)":[61],"is":[62,86],"proposed":[63,129],"based":[64],"on":[65,115,134],"compact":[66],"form":[67],"dynamic":[68,81],"linearization":[69],"(CFDL)":[70],"estimated":[72,84],"pseudo-partial":[73],"derivative":[74],"(PPD).":[75],"Instead":[76],"using":[78],"model,":[82],"PPD":[85],"updated":[87],"merely":[88],"by":[89],"online":[90],"input-output":[91],"(I/O)":[92],"measures.":[93],"Sufficient":[94],"conditions":[95],"are":[96,113],"established":[97],"guarantee":[99],"convergence":[101],"errors":[104],"boundedness":[107],"input.":[110],"Experimental":[111],"studies":[112],"conducted":[114],"ten":[116],"human":[117],"participants":[118],"two":[120],"therapist-resembled":[121],"trajectories.":[122],"Compared":[123],"other":[125],"methods,":[127],"DDAILC":[130],"demonstrates":[131],"significant":[132],"improvement":[133],"performance.":[136]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":3}],"updated_date":"2026-08-11T07:18:39.950985","created_date":"2025-10-10T00:00:00"}
