{"id":"https://openalex.org/W2292771142","doi":"https://doi.org/10.1109/robio.2015.7418866","title":"Nonlinear iterative learning control of 5 DOF upper-limb rehabilitation robot","display_name":"Nonlinear iterative learning control of 5 DOF upper-limb rehabilitation robot","publication_year":2015,"publication_date":"2015-12-01","ids":{"openalex":"https://openalex.org/W2292771142","doi":"https://doi.org/10.1109/robio.2015.7418866","mag":"2292771142"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2015.7418866","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2015.7418866","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 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/A5048014131","display_name":"Xuefeng Zhu","orcid":"https://orcid.org/0000-0002-1308-0834"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuefeng Zhu","raw_affiliation_strings":["College of Information Science and Engineering, Northeastern University, Shenyang, Liaoning, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information Science and Engineering, Northeastern University, Shenyang, Liaoning, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100334404","display_name":"Jianhui Wang","orcid":"https://orcid.org/0000-0003-4766-6216"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianhui Wang","raw_affiliation_strings":["College of Information Science and Engineering, Northeastern University, Shenyang, Liaoning, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information Science and Engineering, Northeastern University, Shenyang, Liaoning, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024989917","display_name":"Xiaofeng Wang","orcid":"https://orcid.org/0000-0001-8524-6488"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaofeng Wang","raw_affiliation_strings":["College of Information Science and Engineering, Northeastern University, Shenyang, Liaoning, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information Science and Engineering, Northeastern University, Shenyang, Liaoning, China","institution_ids":["https://openalex.org/I9224756"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.3408,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.67862841,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"793","last_page":"798"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.9998999834060669,"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/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9645000100135803,"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/T10188","display_name":"Advanced machining processes and optimization","score":0.9362000226974487,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/iterative-learning-control","display_name":"Iterative learning control","score":0.8651959896087646},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7377635836601257},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5723938941955566},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5610520243644714},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5130180716514587},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.4965699315071106},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4752059876918793},{"id":"https://openalex.org/keywords/exponential-stability","display_name":"Exponential stability","score":0.46293821930885315},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.44853124022483826},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.44700315594673157},{"id":"https://openalex.org/keywords/iterative-method","display_name":"Iterative method","score":0.41500118374824524},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25353872776031494},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15991583466529846},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.09149786829948425}],"concepts":[{"id":"https://openalex.org/C117619785","wikidata":"https://www.wikidata.org/wiki/Q6094414","display_name":"Iterative learning control","level":3,"score":0.8651959896087646},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7377635836601257},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5723938941955566},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5610520243644714},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5130180716514587},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.4965699315071106},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4752059876918793},{"id":"https://openalex.org/C167964875","wikidata":"https://www.wikidata.org/wiki/Q17011487","display_name":"Exponential stability","level":3,"score":0.46293821930885315},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.44853124022483826},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.44700315594673157},{"id":"https://openalex.org/C159694833","wikidata":"https://www.wikidata.org/wiki/Q2321565","display_name":"Iterative method","level":2,"score":0.41500118374824524},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25353872776031494},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15991583466529846},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.09149786829948425},{"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},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","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.2015.7418866","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2015.7418866","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5299999713897705,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W2024250800","https://openalex.org/W2050694430","https://openalex.org/W2057915709","https://openalex.org/W2058176553","https://openalex.org/W2097238897","https://openalex.org/W2103787878","https://openalex.org/W2143617447","https://openalex.org/W2150247098","https://openalex.org/W2156151940","https://openalex.org/W2166645794","https://openalex.org/W2170839738"],"related_works":["https://openalex.org/W4386994694","https://openalex.org/W4388738109","https://openalex.org/W2362901947","https://openalex.org/W2074966081","https://openalex.org/W2176100605","https://openalex.org/W2761624296","https://openalex.org/W2164703465","https://openalex.org/W2168383058","https://openalex.org/W2143247663","https://openalex.org/W2050693590"],"abstract_inverted_index":{"This":[0,55],"paper":[1],"focus":[2],"on":[3],"the":[4,10,20,32,58,68,73,76,84,92,97,114,119,136],"nonlinear":[5,43,50,138],"and":[6,31,46,82],"uncertainty":[7],"problems":[8],"in":[9],"upper":[11],"limb":[12],"rehabilitation":[13,21,103,131],"robot":[14,22,63,104,132],"trajectory":[15],"tracking":[16,95],"control.":[17,65],"Considering":[18],"that":[19,135],"system":[23,133],"need":[24],"to":[25,112],"be":[26,88],"performed":[27],"a":[28,40,49],"repetitive":[29],"task":[30],"properties":[33],"of":[34,42,75,96,118,125,128,130],"iterative":[35,51,139],"learning":[36,52,140],"control,":[37],"we":[38],"introduce":[39],"class":[41],"saturation":[44],"function":[45],"put":[47],"forward":[48],"control":[53,70,141,144],"algorithm.":[54],"algorithm":[56],"improved":[57],"commonly":[59],"used":[60],"linear":[61],"PID":[62],"dynamics":[64,105],"It":[66,90],"gained":[67],"good":[69,143],"quality":[71],"under":[72],"condition":[74],"model":[77,106],"information":[78],"is":[79],"not":[80],"accurate":[81],"only":[83],"position":[85],"feedback":[86],"can":[87],"measured.":[89],"realized":[91],"asymptotic":[93,116],"stability":[94,110,117],"periodic":[98],"reference":[99],"input.":[100],"Combined":[101],"with":[102],"characteristics,":[107],"applying":[108],"Lyapunov":[109],"theory":[111],"prove":[113],"global":[115],"closed-loop":[120],"system.":[121],"The":[122],"simulation":[123],"results":[124],"five":[126],"degrees":[127],"freedom":[129],"show":[134],"proposed":[137],"has":[142],"performance.":[145]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
