{"id":"https://openalex.org/W4294672834","doi":"https://doi.org/10.1109/rcar54675.2022.9872300","title":"Trajectory planning of upper limb exoskeleton rehabilitation Robot based on polynomial interpolation","display_name":"Trajectory planning of upper limb exoskeleton rehabilitation Robot based on polynomial interpolation","publication_year":2022,"publication_date":"2022-07-17","ids":{"openalex":"https://openalex.org/W4294672834","doi":"https://doi.org/10.1109/rcar54675.2022.9872300"},"language":"en","primary_location":{"id":"doi:10.1109/rcar54675.2022.9872300","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar54675.2022.9872300","pdf_url":null,"source":{"id":"https://openalex.org/S4363608312","display_name":"2022 IEEE International Conference on Real-time Computing and Robotics (RCAR)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Conference on Real-time Computing and Robotics (RCAR)","raw_type":"proceedings-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/A5011254289","display_name":"Bangcheng Zhang","orcid":"https://orcid.org/0000-0001-9490-0170"},"institutions":[{"id":"https://openalex.org/I4210143016","display_name":"Changchun Institute of Technology","ror":"https://ror.org/03r6wam78","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210143016"]},{"id":"https://openalex.org/I4385474403","display_name":"Changchun University of Technology","ror":"https://ror.org/052pakb34","country_code":null,"type":"education","lineage":["https://openalex.org/I4385474403"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Bangcheng Zhang","raw_affiliation_strings":["Changchun University of Technology,School of Mechatronic Engineering,Changchun,Jilin,China,130103","School of Mechatronic Engineering, Changchun Institute of Technology, Changchun, Jilin, China"],"affiliations":[{"raw_affiliation_string":"Changchun University of Technology,School of Mechatronic Engineering,Changchun,Jilin,China,130103","institution_ids":["https://openalex.org/I4385474403","https://openalex.org/I4385474403"]},{"raw_affiliation_string":"School of Mechatronic Engineering, Changchun Institute of Technology, Changchun, Jilin, China","institution_ids":["https://openalex.org/I4210143016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100339244","display_name":"Ye Li","orcid":"https://orcid.org/0000-0002-8102-1959"},"institutions":[{"id":"https://openalex.org/I4385474403","display_name":"Changchun University of Technology","ror":"https://ror.org/052pakb34","country_code":null,"type":"education","lineage":["https://openalex.org/I4385474403"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ye Li","raw_affiliation_strings":["Changchun University of Technology,School of Mechatronic Engineering,Changchun,Jilin,China,130012"],"affiliations":[{"raw_affiliation_string":"Changchun University of Technology,School of Mechatronic Engineering,Changchun,Jilin,China,130012","institution_ids":["https://openalex.org/I4385474403","https://openalex.org/I4385474403"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101475727","display_name":"Shuai Liu","orcid":"https://orcid.org/0000-0002-3936-646X"},"institutions":[{"id":"https://openalex.org/I4385474403","display_name":"Changchun University of Technology","ror":"https://ror.org/052pakb34","country_code":null,"type":"education","lineage":["https://openalex.org/I4385474403"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuai Liu","raw_affiliation_strings":["Changchun University of Technology,School of Mechatronic Engineering,Changchun,Jilin,China,130012"],"affiliations":[{"raw_affiliation_string":"Changchun University of Technology,School of Mechatronic Engineering,Changchun,Jilin,China,130012","institution_ids":["https://openalex.org/I4385474403","https://openalex.org/I4385474403"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053069461","display_name":"Zaixiang Pang","orcid":"https://orcid.org/0000-0002-0739-8520"},"institutions":[{"id":"https://openalex.org/I4385474403","display_name":"Changchun University of Technology","ror":"https://ror.org/052pakb34","country_code":null,"type":"education","lineage":["https://openalex.org/I4385474403"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zaixiang Pang","raw_affiliation_strings":["Changchun University of Technology,School of Mechatronic Engineering,Changchun,Jilin,China,130012"],"affiliations":[{"raw_affiliation_string":"Changchun University of Technology,School of Mechatronic Engineering,Changchun,Jilin,China,130012","institution_ids":["https://openalex.org/I4385474403","https://openalex.org/I4385474403"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039816236","display_name":"Hang Zhao","orcid":null},"institutions":[{"id":"https://openalex.org/I4385474403","display_name":"Changchun University of Technology","ror":"https://ror.org/052pakb34","country_code":null,"type":"education","lineage":["https://openalex.org/I4385474403"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hang Zhao","raw_affiliation_strings":["Changchun University of Technology,School of Mechatronic Engineering,Changchun,Jilin,China,130012"],"affiliations":[{"raw_affiliation_string":"Changchun University of Technology,School of Mechatronic Engineering,Changchun,Jilin,China,130012","institution_ids":["https://openalex.org/I4385474403","https://openalex.org/I4385474403"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5011254289"],"corresponding_institution_ids":["https://openalex.org/I4210143016","https://openalex.org/I4385474403"],"apc_list":null,"apc_paid":null,"fwci":1.603,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.83313217,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"727","last_page":"732"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9994000196456909,"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":0.9994000196456909,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9896000027656555,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.983299970626831,"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":0.8949214220046997},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7670804262161255},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5718880295753479},{"id":"https://openalex.org/keywords/interpolation","display_name":"Interpolation (computer graphics)","score":0.5587719082832336},{"id":"https://openalex.org/keywords/rehabilitation","display_name":"Rehabilitation","score":0.5524967908859253},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5492106676101685},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.47086942195892334},{"id":"https://openalex.org/keywords/polynomial","display_name":"Polynomial","score":0.431379497051239},{"id":"https://openalex.org/keywords/lower-limb","display_name":"Lower limb","score":0.42469578981399536},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.40359967947006226},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.32781982421875},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.24241173267364502},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1993282437324524},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.1859746277332306},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.16403281688690186},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11755627393722534},{"id":"https://openalex.org/keywords/physical-therapy","display_name":"Physical therapy","score":0.11462628841400146},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.0537109375}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.8949214220046997},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7670804262161255},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5718880295753479},{"id":"https://openalex.org/C137800194","wikidata":"https://www.wikidata.org/wiki/Q11713455","display_name":"Interpolation (computer graphics)","level":3,"score":0.5587719082832336},{"id":"https://openalex.org/C2778818304","wikidata":"https://www.wikidata.org/wiki/Q1819478","display_name":"Rehabilitation","level":2,"score":0.5524967908859253},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5492106676101685},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.47086942195892334},{"id":"https://openalex.org/C90119067","wikidata":"https://www.wikidata.org/wiki/Q43260","display_name":"Polynomial","level":2,"score":0.431379497051239},{"id":"https://openalex.org/C2989316616","wikidata":"https://www.wikidata.org/wiki/Q6027402","display_name":"Lower limb","level":2,"score":0.42469578981399536},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.40359967947006226},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.32781982421875},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.24241173267364502},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1993282437324524},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.1859746277332306},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.16403281688690186},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11755627393722534},{"id":"https://openalex.org/C1862650","wikidata":"https://www.wikidata.org/wiki/Q186005","display_name":"Physical therapy","level":1,"score":0.11462628841400146},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0537109375},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/rcar54675.2022.9872300","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar54675.2022.9872300","pdf_url":null,"source":{"id":"https://openalex.org/S4363608312","display_name":"2022 IEEE International Conference on Real-time Computing and Robotics (RCAR)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Conference on Real-time Computing and Robotics (RCAR)","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"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1630984390","https://openalex.org/W2216740760","https://openalex.org/W2368795201","https://openalex.org/W2754892466","https://openalex.org/W2893037837","https://openalex.org/W2897102261","https://openalex.org/W2914480481","https://openalex.org/W2992362753","https://openalex.org/W3012487537","https://openalex.org/W3111918613","https://openalex.org/W3160960067","https://openalex.org/W4302974604","https://openalex.org/W6843430805"],"related_works":["https://openalex.org/W2901258812","https://openalex.org/W2887985348","https://openalex.org/W2988006194","https://openalex.org/W4391253916","https://openalex.org/W3161473036","https://openalex.org/W2147052742","https://openalex.org/W4384945227","https://openalex.org/W4385829859","https://openalex.org/W4389565105","https://openalex.org/W2809604412"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposed":[2,28],"a":[3,118],"new":[4],"6-DOF":[5],"upper":[6,15,39],"limb":[7,16,40],"exoskeleton":[8,17,41],"rehabilitation":[9,45],"robot(ULERR).":[10],"Based":[11],"on":[12],"the":[13,31,38,44,49,55,70,74,82,101,107,124,128,135,142,145,150],"designed":[14],"robot,":[18],"its":[19],"kinematics":[20],"is":[21,27,65,93],"solved.":[22],"A":[23],"multi-valued":[24],"difference":[25],"function":[26],"to":[29,96],"realize":[30],"smooth":[32,60,113],"and":[33,48,51,61,63,90,114,116,140,152],"continuous":[34,115],"motion":[35,57,77],"trajectory":[36,58],"of":[37,78,110,127,144,154],"robot":[42],"during":[43],"training":[46],"process,":[47],"velocity":[50],"acceleration":[52,126,136],"changes":[53],"in":[54,69],"joint":[56,112,129],"are":[59],"continuous,":[62],"there":[64],"no":[66],"sudden":[67],"change":[68,71,109,137],"process.":[72],"In":[73],"point-to-point":[75],"(PTP)":[76],"passing":[79],"path":[80],"points,":[81],"\u201c4-3-4\u201d":[83,102],"polynomial":[84,103,132],"interpolation":[85,104],"algorithm":[86],"combined":[87],"with":[88],"quartic":[89],"cubic":[91,131],"polynomials":[92],"adopted.":[94],"According":[95],"experiments,":[97],"it":[98,121],"proved":[99,149],"that":[100],"can":[105],"make":[106],"speed":[108],"each":[111],"obtain":[117],"stable":[119,139],"trajectory,":[120],"also":[122],"reduces":[123,141],"maximum":[125],"after":[130],"interpolation,":[133],"makes":[134],"more":[138],"impact":[143],"mechanism.":[146],"The":[147],"experiments":[148],"feasibility":[151],"stability":[153],"this":[155],"method.":[156]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
