{"id":"https://openalex.org/W7130582053","doi":"https://doi.org/10.1109/lra.2026.3666390","title":"A Novel Cable-Tightness-Based Control Strategy With High-Accuracy and Seamless Gait Assistance for Cable-Driven Exoskeletons","display_name":"A Novel Cable-Tightness-Based Control Strategy With High-Accuracy and Seamless Gait Assistance for Cable-Driven Exoskeletons","publication_year":2026,"publication_date":"2026-02-19","ids":{"openalex":"https://openalex.org/W7130582053","doi":"https://doi.org/10.1109/lra.2026.3666390"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2026.3666390","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3666390","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":null,"display_name":"Jiaqi Han","orcid":"https://orcid.org/0009-0009-5452-5930"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jiaqi Han","raw_affiliation_strings":["Tianjin Key Laboratory of Intelligent Robotics, the College of Artificial Intelligence, and the Academy for Advanced Interdisciplinary Studies, Nankai University, Tianjin, China"],"raw_orcid":"https://orcid.org/0009-0009-5452-5930","affiliations":[{"raw_affiliation_string":"Tianjin Key Laboratory of Intelligent Robotics, the College of Artificial Intelligence, and the Academy for Advanced Interdisciplinary Studies, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052797825","display_name":"Weihao Yin","orcid":null},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weihao Yin","raw_affiliation_strings":["Tianjin Key Laboratory of Intelligent Robotics, the College of Artificial Intelligence, and the Academy for Advanced Interdisciplinary Studies, Nankai University, Tianjin, China"],"raw_orcid":"https://orcid.org/0009-0009-1025-4657","affiliations":[{"raw_affiliation_string":"Tianjin Key Laboratory of Intelligent Robotics, the College of Artificial Intelligence, and the Academy for Advanced Interdisciplinary Studies, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126371886","display_name":"Yingbo Song","orcid":null},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yingbo Song","raw_affiliation_strings":["Tianjin Key Laboratory of Intelligent Robotics, the College of Artificial Intelligence, and the Academy for Advanced Interdisciplinary Studies, Nankai University, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tianjin Key Laboratory of Intelligent Robotics, the College of Artificial Intelligence, and the Academy for Advanced Interdisciplinary Studies, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031086756","display_name":"Zhibo Jing","orcid":null},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhibo Jing","raw_affiliation_strings":["Tianjin Key Laboratory of Intelligent Robotics, the College of Artificial Intelligence, and the Academy for Advanced Interdisciplinary Studies, Nankai University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0001-8031-4824","affiliations":[{"raw_affiliation_string":"Tianjin Key Laboratory of Intelligent Robotics, the College of Artificial Intelligence, and the Academy for Advanced Interdisciplinary Studies, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5120988840","display_name":"Jianda Han","orcid":null},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianda Han","raw_affiliation_strings":["Tianjin Key Laboratory of Intelligent Robotics, the College of Artificial Intelligence, and the Academy for Advanced Interdisciplinary Studies, Nankai University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-9664-4534","affiliations":[{"raw_affiliation_string":"Tianjin Key Laboratory of Intelligent Robotics, the College of Artificial Intelligence, and the Academy for Advanced Interdisciplinary Studies, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5126407662","display_name":"Juanjuan Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Juanjuan Zhang","raw_affiliation_strings":["Tianjin Key Laboratory of Intelligent Robotics, the College of Artificial Intelligence, and the Academy for Advanced Interdisciplinary Studies, Nankai University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-3833-487X","affiliations":[{"raw_affiliation_string":"Tianjin Key Laboratory of Intelligent Robotics, the College of Artificial Intelligence, and the Academy for Advanced Interdisciplinary Studies, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I205237279"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.35326719,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"4","first_page":"4641","last_page":"4648"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9660000205039978,"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":0.9660000205039978,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.005499999970197678,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.005100000184029341,"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":0.8230999708175659},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6223999857902527},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6014999747276306},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5703999996185303},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.49540001153945923},{"id":"https://openalex.org/keywords/feed-forward","display_name":"Feed forward","score":0.4894999861717224},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.4722000062465668},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.46320000290870667}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.8230999708175659},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6223999857902527},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6014999747276306},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5703999996185303},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.49540001153945923},{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.4894999861717224},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4860000014305115},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.4722000062465668},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.46320000290870667},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4007999897003174},{"id":"https://openalex.org/C70836080","wikidata":"https://www.wikidata.org/wiki/Q837940","display_name":"Impulse (physics)","level":2,"score":0.39089998602867126},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3849000036716461},{"id":"https://openalex.org/C2776652708","wikidata":"https://www.wikidata.org/wiki/Q584028","display_name":"Backlash","level":2,"score":0.33550000190734863},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.3273000121116638},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.31029999256134033},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.30489999055862427},{"id":"https://openalex.org/C761482","wikidata":"https://www.wikidata.org/wiki/Q118093","display_name":"Transmission (telecommunications)","level":2,"score":0.30059999227523804},{"id":"https://openalex.org/C173906292","wikidata":"https://www.wikidata.org/wiki/Q1493441","display_name":"Gait analysis","level":3,"score":0.2806999981403351},{"id":"https://openalex.org/C89805583","wikidata":"https://www.wikidata.org/wiki/Q192940","display_name":"Accelerometer","level":2,"score":0.26649999618530273},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.25760000944137573}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2026.3666390","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3666390","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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W2416127396","https://openalex.org/W2700163520","https://openalex.org/W2746353924","https://openalex.org/W2783106319","https://openalex.org/W2794037572","https://openalex.org/W2795514975","https://openalex.org/W2890784218","https://openalex.org/W2905770187","https://openalex.org/W3149428510","https://openalex.org/W3183839786","https://openalex.org/W3197612358","https://openalex.org/W4304777328","https://openalex.org/W4381327873","https://openalex.org/W4385569621","https://openalex.org/W4387914219","https://openalex.org/W4392824842","https://openalex.org/W4394967001","https://openalex.org/W4401246695","https://openalex.org/W4402592523","https://openalex.org/W4404576642","https://openalex.org/W4407467611","https://openalex.org/W4412722353","https://openalex.org/W4413394377","https://openalex.org/W4413555946"],"related_works":[],"abstract_inverted_index":{"Cable-driven":[0],"exoskeletons":[1],"face":[2],"control":[3,39,53,62],"challenges":[4],"such":[5],"as":[6,70],"transmission":[7,77],"latency":[8],"and":[9,21,57,87,108,127,162],"complex":[10],"kinematics.":[11],"In":[12],"gait":[13,59,131,187],"assistance,":[14,167],"torque\u2013position":[15],"switching":[16,27],"strategy":[17,184],"can":[18],"provide":[19],"transparency":[20],"near-zero":[22],"impedance,":[23],"but":[24,35],"its":[25],"mode":[26],"introduces":[28],"discontinuities.":[29],"Iterative-learning":[30],"methods":[31],"enhance":[32],"tracking":[33,141],"performance":[34,128,164],"cannot":[36],"accommodate":[37],"parameter-varying":[38,166],"needed":[40],"for":[41,55],"adaptive,":[42],"environment-responsive":[43],"assistance.":[44,60,132,188],"We":[45,113],"developed":[46],"a":[47,51,71,119],"cable-tightness-based":[48],"controller":[49,81,100,117,138],"with":[50,143],"unified":[52],"variable":[54],"high-accuracy":[56],"seamless":[58,153],"The":[61,79,98],"variable,":[63],"\u201ctightness\u201d,":[64],"was":[65],"defined":[66],"through":[67,105],"kinematic":[68],"analysis":[69],"bidirectional":[72],"measure":[73],"of":[74,148,181],"the":[75,83,89,94,102,115,137,156,178,182],"system's":[76],"state.":[78],"high-level":[80],"characterizes":[82],"torque\u2013tightness":[84,109],"relationship":[85],"online":[86],"maps":[88],"planned":[90],"torque":[91],"profile":[92],"to":[93,173],"corresponding":[95],"tightness":[96],"profile.":[97],"low-level":[99],"tracks":[101],"desired":[103],"profiles":[104],"kinematics-based":[106],"feedforward":[107],"hybrid":[110],"feedback":[111],"control.":[112],"deployed":[114],"proposed":[116,183],"on":[118],"knee":[120],"exoskeleton":[121],"system,":[122],"then":[123],"conducted":[124],"parameter":[125],"tuning":[126],"evaluations":[129],"during":[130],"Experimental":[133],"results":[134],"demonstrated":[135],"that":[136],"achieved":[139],"high":[140],"accuracy,":[142],"an":[144],"averaged":[145],"RMS":[146,169],"error":[147,170],"0.85%":[149],"peak":[150],"torque;":[151],"realized":[152],"control,":[154],"reducing":[155,168],"maximum":[157],"motor":[158],"impulse":[159],"by":[160,171],"91.9%;":[161],"sustained":[163],"under":[165],"up":[172],"72.4%.":[174],"Preliminary":[175],"findings":[176],"indicated":[177],"control-level":[179],"significance":[180],"in":[185],"enhancing":[186]},"counts_by_year":[],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2026-02-20T00:00:00"}
