{"id":"https://openalex.org/W1979644111","doi":"https://doi.org/10.1109/robio.2012.6491205","title":"A robust adaptive neural controller to drive a knee joint actuated orthosis","display_name":"A robust adaptive neural controller to drive a knee joint actuated orthosis","publication_year":2012,"publication_date":"2012-12-01","ids":{"openalex":"https://openalex.org/W1979644111","doi":"https://doi.org/10.1109/robio.2012.6491205","mag":"1979644111"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2012.6491205","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2012.6491205","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5022264465","display_name":"S. Mefoued","orcid":"https://orcid.org/0000-0003-4180-3638"},"institutions":[{"id":"https://openalex.org/I197681013","display_name":"Universit\u00e9 Paris-Est Cr\u00e9teil","ror":"https://ror.org/05ggc9x40","country_code":"FR","type":"education","lineage":["https://openalex.org/I197681013"]},{"id":"https://openalex.org/I2800365227","display_name":"Paris-Est Sup","ror":"https://ror.org/0268ecp52","country_code":"FR","type":"education","lineage":["https://openalex.org/I2800365227"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"S. Mefoued","raw_affiliation_strings":["LISSI Laboratory, University of Paris-Est Cr\u00e9teil, Vitry Sur Seine, France","LISSI Laboratory, University of Paris-Est Cre\u00b4teil, UPEC, 122 Rue Paul Armangot, Vitry Sur Seine, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LISSI Laboratory, University of Paris-Est Cr\u00e9teil, Vitry Sur Seine, France","institution_ids":["https://openalex.org/I2800365227","https://openalex.org/I197681013"]},{"raw_affiliation_string":"LISSI Laboratory, University of Paris-Est Cre\u00b4teil, UPEC, 122 Rue Paul Armangot, Vitry Sur Seine, France","institution_ids":["https://openalex.org/I2800365227","https://openalex.org/I197681013"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039367073","display_name":"Mohamed El Hossine Daachi","orcid":null},"institutions":[{"id":"https://openalex.org/I197681013","display_name":"Universit\u00e9 Paris-Est Cr\u00e9teil","ror":"https://ror.org/05ggc9x40","country_code":"FR","type":"education","lineage":["https://openalex.org/I197681013"]},{"id":"https://openalex.org/I2800365227","display_name":"Paris-Est Sup","ror":"https://ror.org/0268ecp52","country_code":"FR","type":"education","lineage":["https://openalex.org/I2800365227"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"M. E. Daachi","raw_affiliation_strings":["LISSI Laboratory, University of Paris-Est Cr\u00e9teil, Vitry Sur Seine, France","LISSI Laboratory, University of Paris-Est Cre\u00b4teil, UPEC, 122 Rue Paul Armangot, Vitry Sur Seine, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LISSI Laboratory, University of Paris-Est Cr\u00e9teil, Vitry Sur Seine, France","institution_ids":["https://openalex.org/I2800365227","https://openalex.org/I197681013"]},{"raw_affiliation_string":"LISSI Laboratory, University of Paris-Est Cre\u00b4teil, UPEC, 122 Rue Paul Armangot, Vitry Sur Seine, France","institution_ids":["https://openalex.org/I2800365227","https://openalex.org/I197681013"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044161230","display_name":"Boubaker Da\u00e2chi","orcid":"https://orcid.org/0000-0002-8910-517X"},"institutions":[{"id":"https://openalex.org/I197681013","display_name":"Universit\u00e9 Paris-Est Cr\u00e9teil","ror":"https://ror.org/05ggc9x40","country_code":"FR","type":"education","lineage":["https://openalex.org/I197681013"]},{"id":"https://openalex.org/I2800365227","display_name":"Paris-Est Sup","ror":"https://ror.org/0268ecp52","country_code":"FR","type":"education","lineage":["https://openalex.org/I2800365227"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"B. Daachi","raw_affiliation_strings":["LISSI Laboratory, University of Paris-Est Cr\u00e9teil, Vitry Sur Seine, France","LISSI Laboratory, University of Paris-Est Cre\u00b4teil, UPEC, 122 Rue Paul Armangot, Vitry Sur Seine, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LISSI Laboratory, University of Paris-Est Cr\u00e9teil, Vitry Sur Seine, France","institution_ids":["https://openalex.org/I2800365227","https://openalex.org/I197681013"]},{"raw_affiliation_string":"LISSI Laboratory, University of Paris-Est Cre\u00b4teil, UPEC, 122 Rue Paul Armangot, Vitry Sur Seine, France","institution_ids":["https://openalex.org/I2800365227","https://openalex.org/I197681013"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011742024","display_name":"Samer Mohammed","orcid":"https://orcid.org/0000-0001-6738-4529"},"institutions":[{"id":"https://openalex.org/I197681013","display_name":"Universit\u00e9 Paris-Est Cr\u00e9teil","ror":"https://ror.org/05ggc9x40","country_code":"FR","type":"education","lineage":["https://openalex.org/I197681013"]},{"id":"https://openalex.org/I2800365227","display_name":"Paris-Est Sup","ror":"https://ror.org/0268ecp52","country_code":"FR","type":"education","lineage":["https://openalex.org/I2800365227"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"S. Mohammed","raw_affiliation_strings":["LISSI Laboratory, University of Paris-Est Cr\u00e9teil, Vitry Sur Seine, France","LISSI Laboratory, University of Paris-Est Cre\u00b4teil, UPEC, 122 Rue Paul Armangot, Vitry Sur Seine, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LISSI Laboratory, University of Paris-Est Cr\u00e9teil, Vitry Sur Seine, France","institution_ids":["https://openalex.org/I2800365227","https://openalex.org/I197681013"]},{"raw_affiliation_string":"LISSI Laboratory, University of Paris-Est Cre\u00b4teil, UPEC, 122 Rue Paul Armangot, Vitry Sur Seine, France","institution_ids":["https://openalex.org/I2800365227","https://openalex.org/I197681013"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044453604","display_name":"Yacine Amirat","orcid":"https://orcid.org/0000-0002-3238-0517"},"institutions":[{"id":"https://openalex.org/I197681013","display_name":"Universit\u00e9 Paris-Est Cr\u00e9teil","ror":"https://ror.org/05ggc9x40","country_code":"FR","type":"education","lineage":["https://openalex.org/I197681013"]},{"id":"https://openalex.org/I2800365227","display_name":"Paris-Est Sup","ror":"https://ror.org/0268ecp52","country_code":"FR","type":"education","lineage":["https://openalex.org/I2800365227"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Y. Amirat","raw_affiliation_strings":["LISSI Laboratory, University of Paris-Est Cr\u00e9teil, Vitry Sur Seine, France","LISSI Laboratory, University of Paris-Est Cre\u00b4teil, UPEC, 122 Rue Paul Armangot, Vitry Sur Seine, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LISSI Laboratory, University of Paris-Est Cr\u00e9teil, Vitry Sur Seine, France","institution_ids":["https://openalex.org/I2800365227","https://openalex.org/I197681013"]},{"raw_affiliation_string":"LISSI Laboratory, University of Paris-Est Cre\u00b4teil, UPEC, 122 Rue Paul Armangot, Vitry Sur Seine, France","institution_ids":["https://openalex.org/I2800365227","https://openalex.org/I197681013"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.2426,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.78217527,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"16","issue":null,"first_page":"1656","last_page":"1661"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9997000098228455,"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":0.9997000098228455,"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/T10784","display_name":"Muscle activation and electromyography studies","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/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9851999878883362,"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/control-theory","display_name":"Control theory (sociology)","score":0.6801566481590271},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5863056778907776},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5788313746452332},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.499133825302124},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4922713339328766},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4813152551651001},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.41880208253860474},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3601536154747009},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3297080397605896},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.32109981775283813},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14450371265411377}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6801566481590271},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5863056778907776},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5788313746452332},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.499133825302124},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4922713339328766},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4813152551651001},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.41880208253860474},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3601536154747009},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3297080397605896},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32109981775283813},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14450371265411377},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2012.6491205","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2012.6491205","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/3","display_name":"Good health and well-being","score":0.6399999856948853}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W575905749","https://openalex.org/W1499132668","https://openalex.org/W1517236425","https://openalex.org/W1540723983","https://openalex.org/W1986265391","https://openalex.org/W1996150877","https://openalex.org/W1999757390","https://openalex.org/W2019368180","https://openalex.org/W2029188366","https://openalex.org/W2032557802","https://openalex.org/W2059676226","https://openalex.org/W2066453048","https://openalex.org/W2075795552","https://openalex.org/W2104250069","https://openalex.org/W2108437236","https://openalex.org/W2111056824","https://openalex.org/W2115932303","https://openalex.org/W2116547962","https://openalex.org/W2127537860","https://openalex.org/W2132735691","https://openalex.org/W2134158933","https://openalex.org/W2135892703","https://openalex.org/W2138896616","https://openalex.org/W2142117918","https://openalex.org/W2149422838","https://openalex.org/W2162438232","https://openalex.org/W2166978470","https://openalex.org/W2625418744","https://openalex.org/W4285719527","https://openalex.org/W6632332842","https://openalex.org/W6654955356","https://openalex.org/W6664953127","https://openalex.org/W6679078453","https://openalex.org/W6739233635"],"related_works":["https://openalex.org/W2018658498","https://openalex.org/W1991810297","https://openalex.org/W2032253950","https://openalex.org/W2969358681","https://openalex.org/W1819950161","https://openalex.org/W2112559358","https://openalex.org/W2107122120","https://openalex.org/W194970950","https://openalex.org/W2000675896","https://openalex.org/W2342009288"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,26,35,101],"robust":[4],"adaptive":[5],"control":[6],"of":[7,18,43,56,108,114],"an":[8,89],"actuated":[9],"orthosis":[10],"intended":[11],"to":[12,51,65,88],"assist":[13],"the":[14,40,53,57,67,72,75,80,94,105,109],"lower":[15,44,77],"limb":[16,78],"movements":[17],"dependent":[19],"persons.":[20],"The":[21,61],"proposed":[22,110],"controller,":[23],"based":[24,92],"on":[25,93,100],"MultiLayer":[27],"Perception":[28],"Neural":[29],"Network":[30],"(MLPNN)":[31],"and":[32,79,117],"considered":[33],"as":[34],"black-box,":[36],"does":[37],"not":[38],"require":[39],"dynamic":[41,68],"model":[42],"limbs/orthosis.":[45],"A":[46],"neural":[47],"identification":[48],"is":[49,63],"used":[50,64],"extract":[52],"principal":[54],"components":[55],"MLPNN":[58,62,82],"input":[59],"vector.":[60],"compensate":[66],"effects":[69],"arising":[70],"from":[71],"interaction":[73],"between":[74],"human":[76],"orthosis.":[81],"weights":[83],"are":[84],"adjusted":[85],"online":[86],"according":[87],"adaption":[90],"algorithm":[91],"Lyapunov":[95],"analysis.":[96],"Experiments,":[97],"carried":[98],"out":[99],"healthy":[102],"subject,":[103],"show":[104],"good":[106],"performance":[107],"controller":[111],"in":[112],"terms":[113],"trajectory":[115],"tracking":[116],"robustness":[118],"against":[119],"external":[120],"disturbances.":[121]},"counts_by_year":[{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}