{"id":"https://openalex.org/W2920850860","doi":"https://doi.org/10.1109/robio.2018.8665203","title":"The Control System for Flexible Hip Assistive Exoskeleton","display_name":"The Control System for Flexible Hip Assistive Exoskeleton","publication_year":2018,"publication_date":"2018-12-01","ids":{"openalex":"https://openalex.org/W2920850860","doi":"https://doi.org/10.1109/robio.2018.8665203","mag":"2920850860"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2018.8665203","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2018.8665203","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 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/A5029929713","display_name":"Tao Xue","orcid":"https://orcid.org/0000-0001-7499-6160"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Tao Xue","raw_affiliation_strings":["Department of Automation, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Department of Automation, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100389387","display_name":"Ziwei Wang","orcid":"https://orcid.org/0000-0003-4588-8501"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ziwei Wang","raw_affiliation_strings":["Department of Automation, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Department of Automation, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100375792","display_name":"Tao Zhang","orcid":"https://orcid.org/0000-0002-2980-6281"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tao Zhang","raw_affiliation_strings":["Department of Automation, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Department of Automation, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100437697","display_name":"Meng Zhang","orcid":"https://orcid.org/0000-0001-8356-0043"},"institutions":[{"id":"https://openalex.org/I4210144102","display_name":"Wuhu Hit Robot Technology Research Institute","ror":"https://ror.org/049w4dp92","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210144102"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Meng Zhang","raw_affiliation_strings":["CEO of Move Robotics Technology Co., Ltd., Shanghai, China"],"affiliations":[{"raw_affiliation_string":"CEO of Move Robotics Technology Co., Ltd., Shanghai, China","institution_ids":["https://openalex.org/I4210144102"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100337924","display_name":"Zhiyuan Li","orcid":"https://orcid.org/0000-0001-8446-0319"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiyuan Li","raw_affiliation_strings":["Department of Automation, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Department of Automation, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5029929713"],"corresponding_institution_ids":["https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":0.8717,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.72833189,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"697","last_page":"702"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9921000003814697,"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":0.9855999946594238,"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":0.8684328198432922},{"id":"https://openalex.org/keywords/synchronizer","display_name":"Synchronizer","score":0.7231977581977844},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.6543533205986023},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6446155905723572},{"id":"https://openalex.org/keywords/wearable-computer","display_name":"Wearable computer","score":0.6286302804946899},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5696672201156616},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5415167808532715},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.4107586145401001},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4011298418045044},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.34439629316329956},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.09238159656524658},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.08470389246940613},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.07774829864501953}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.8684328198432922},{"id":"https://openalex.org/C66727535","wikidata":"https://www.wikidata.org/wiki/Q7662199","display_name":"Synchronizer","level":2,"score":0.7231977581977844},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.6543533205986023},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6446155905723572},{"id":"https://openalex.org/C150594956","wikidata":"https://www.wikidata.org/wiki/Q1334829","display_name":"Wearable computer","level":2,"score":0.6286302804946899},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5696672201156616},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5415167808532715},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.4107586145401001},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4011298418045044},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.34439629316329956},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.09238159656524658},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.08470389246940613},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.07774829864501953},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2018.8665203","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2018.8665203","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 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":17,"referenced_works":["https://openalex.org/W1956237300","https://openalex.org/W1963044288","https://openalex.org/W1968048475","https://openalex.org/W1996907893","https://openalex.org/W2028060274","https://openalex.org/W2040344946","https://openalex.org/W2043137231","https://openalex.org/W2057244293","https://openalex.org/W2059368191","https://openalex.org/W2062438344","https://openalex.org/W2066825169","https://openalex.org/W2102046115","https://openalex.org/W2126097529","https://openalex.org/W2138300314","https://openalex.org/W2170103176","https://openalex.org/W2171323125","https://openalex.org/W6641060993"],"related_works":["https://openalex.org/W2380488590","https://openalex.org/W2381770863","https://openalex.org/W1989099935","https://openalex.org/W2387092654","https://openalex.org/W3164310312","https://openalex.org/W2039832510","https://openalex.org/W2092534058","https://openalex.org/W4388873644","https://openalex.org/W4286728594","https://openalex.org/W2765907659"],"abstract_inverted_index":{"A":[0,39],"novel":[1],"wearable":[2],"hip":[3,54,83,93],"assistive":[4,82,101],"exoskeleton":[5],"is":[6,50,57,86,104],"developed":[7],"to":[8,29,64,138],"provide":[9],"comfortable":[10],"and":[11,68,100],"effective":[12],"walking":[13,41,72,134],"assistance.":[14],"In":[15],"this":[16],"paper,":[17],"we":[18],"propose":[19],"an":[20,76],"alternate":[21],"flexible":[22],"joint":[23],"control":[24,114],"method,":[25],"direct":[26],"torque":[27,84,102],"control,":[28],"reduce":[30],"intrinsic":[31],"mechanical":[32],"impedance":[33],"for":[34],"fully":[35],"compliant":[36],"human-exoskeleton":[37],"interaction.":[38],"new":[40],"intention":[42,78],"estimation":[43],"approach":[44],"based":[45,88],"on":[46,89,119],"gait":[47,62],"synchronizer,":[48],"which":[49],"just":[51],"driven":[52],"by":[53],"angular":[55],"velocity,":[56],"put":[58],"forward.":[59],"We":[60],"utilize":[61],"synchronizer":[63],"generate,":[65],"recognize,":[66],"synchronize":[67],"segment":[69],"the":[70,90,112,120,127,131],"actual":[71,121],"gait,":[73],"thus":[74],"providing":[75],"indirect":[77],"perceiving":[79],"way.":[80],"Besides,":[81],"trajectory":[85,103],"optimized":[87],"nominal":[91],"biological":[92],"moment.":[94],"The":[95],"mapping":[96],"relationship":[97],"between":[98],"status":[99],"determined":[105],"through":[106],"lots":[107],"of":[108,133],"experiments.":[109],"At":[110],"last,":[111],"proposed":[113],"system":[115],"has":[116],"been":[117],"implemented":[118],"Flexible":[122],"Hip":[123],"Assistive":[124],"Exoskeleton.":[125],"And":[126],"results":[128],"have":[129],"confirmed":[130],"effectiveness":[132],"assistance,":[135],"indicating":[136],"up":[137],"16.7%":[139],"metabolic":[140],"consumption":[141],"reduction":[142],"during":[143],"walking.":[144]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}