{"id":"https://openalex.org/W2030249515","doi":"https://doi.org/10.1109/robio.2012.6491251","title":"Adaptive fuzzy tracking control of a human lower limb with an exoskeleton","display_name":"Adaptive fuzzy tracking control of a human lower limb with an exoskeleton","publication_year":2012,"publication_date":"2012-12-01","ids":{"openalex":"https://openalex.org/W2030249515","doi":"https://doi.org/10.1109/robio.2012.6491251","mag":"2030249515"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2012.6491251","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2012.6491251","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/A5066181483","display_name":"Yongsheng Ou","orcid":"https://orcid.org/0000-0003-2998-267X"},"institutions":[{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yongsheng Ou","raw_affiliation_strings":["Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences Shenzhen, Guangdong, China","Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, Guangdong. China"],"affiliations":[{"raw_affiliation_string":"Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences Shenzhen, Guangdong, China","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, Guangdong. 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/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhijun Li","raw_affiliation_strings":["South China University of Technology, Guangzhou, China","South China University of Tech. Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"South China University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]},{"raw_affiliation_string":"South China University of Tech. Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100636088","display_name":"Guanglin Li","orcid":"https://orcid.org/0000-0001-9016-2617"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guanglin Li","raw_affiliation_strings":["Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences Shenzhen, Guangdong, China","Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, Guangdong. China"],"affiliations":[{"raw_affiliation_string":"Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences Shenzhen, Guangdong, China","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, Guangdong. China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076212272","display_name":"Chun\u2010Yi Su","orcid":"https://orcid.org/0000-0002-1869-5563"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chun-Yi Su","raw_affiliation_strings":["South China University of Technology, Guangzhou, China","South China University of Tech. Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"South China University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]},{"raw_affiliation_string":"South China University of Tech. Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5066181483"],"corresponding_institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210145761"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.10813168,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1937","last_page":"1942"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9961000084877014,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9887999892234802,"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/control-theory","display_name":"Control theory (sociology)","score":0.8125860095024109},{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.7239079475402832},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6110712885856628},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.609869122505188},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.4835895895957947},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47272080183029175},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.4655758738517761},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.44102707505226135},{"id":"https://openalex.org/keywords/exponential-stability","display_name":"Exponential stability","score":0.42397943139076233},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.33063942193984985},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.16438999772071838},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15987294912338257},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10025724768638611},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0911608636379242}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8125860095024109},{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.7239079475402832},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6110712885856628},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.609869122505188},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.4835895895957947},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47272080183029175},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.4655758738517761},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.44102707505226135},{"id":"https://openalex.org/C167964875","wikidata":"https://www.wikidata.org/wiki/Q17011487","display_name":"Exponential stability","level":3,"score":0.42397943139076233},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.33063942193984985},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.16438999772071838},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15987294912338257},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10025724768638611},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0911608636379242},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2012.6491251","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2012.6491251","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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1512194809","https://openalex.org/W1963754511","https://openalex.org/W1977872363","https://openalex.org/W1988182293","https://openalex.org/W2024439306","https://openalex.org/W2038485986","https://openalex.org/W2050246747","https://openalex.org/W2057109177","https://openalex.org/W2105060942","https://openalex.org/W2112433864","https://openalex.org/W2122008231","https://openalex.org/W2138459461","https://openalex.org/W2139214287","https://openalex.org/W2140036652","https://openalex.org/W2158244378","https://openalex.org/W2170214056","https://openalex.org/W2171889176","https://openalex.org/W3104471247","https://openalex.org/W4236950858"],"related_works":["https://openalex.org/W2887985348","https://openalex.org/W2901258812","https://openalex.org/W3017269254","https://openalex.org/W2164703465","https://openalex.org/W2168383058","https://openalex.org/W2143247663","https://openalex.org/W1864017312","https://openalex.org/W4313442219","https://openalex.org/W2015036175","https://openalex.org/W1934622834"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"the":[3,48,60,91,110,116,125,138,141,145],"objective":[4],"is":[5,44,104,127],"to":[6,12,24,46,77,143,148],"develop":[7],"a":[8,14,21,34,70,82],"lower":[9],"limb":[10],"exoskeleton":[11,88,142],"produce":[13],"knee":[15,38],"position":[16],"trajectory":[17,29,36],"that":[18],"will":[19],"enable":[20,144],"human":[22,49,133],"shank":[23,147],"track":[25,149],"any":[26],"continuous":[27],"desired":[28,35],"(or":[30],"constant":[31],"setpoint).":[32],"Given":[33],"of":[37,62,93,124,140,160],"position,":[39],"Lyapunov-based":[40],"adaptive":[41,117],"fuzzy":[42],"control":[43,47,118],"developed":[45,57],"quadriceps":[50],"femoris":[51],"muscle":[52,71,84],"undergoing":[53],"nonisometric":[54],"contractions.":[55],"The":[56,100,122,135],"controller":[58,101,126],"through":[59,129],"use":[61],"an":[63,87],"integral":[64],"Lyapunov":[65],"function":[66],"does":[67],"not":[68],"require":[69],"model":[72,85,89],"and":[73,86,119,151,158],"can":[74],"be":[75],"proven":[76],"yield":[78],"asymptotic":[79],"stability":[80],"for":[81],"nonlinear":[83,95,111],"in":[90],"presence":[92],"bounded":[94],"disturbances":[96],"(e.g.,":[97],"spasticity,":[98],"fatigue).":[99],"singularity":[102],"problem":[103],"elegantly":[105],"solved":[106],"as":[107],"it":[108],"avoids":[109],"parametrization":[112],"from":[113],"entering":[114],"into":[115],"learning":[120],"control.":[121],"performance":[123],"demonstrated":[128],"closed-loop":[130],"experiments":[131,136],"on":[132],"subjects.":[134],"illustrate":[137],"ability":[139],"leg":[146],"single":[150],"multiple":[152],"period":[153],"trajectories":[154],"with":[155],"different":[156],"periods":[157],"ranges":[159],"motion.":[161]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}