{"id":"https://openalex.org/W4226096631","doi":"https://doi.org/10.1109/robio54168.2021.9739595","title":"A Modular Lower Limb Exoskeleton System with RL Based Walking Assistance Control","display_name":"A Modular Lower Limb Exoskeleton System with RL Based Walking Assistance Control","publication_year":2021,"publication_date":"2021-12-27","ids":{"openalex":"https://openalex.org/W4226096631","doi":"https://doi.org/10.1109/robio54168.2021.9739595"},"language":"en","primary_location":{"id":"doi:10.1109/robio54168.2021.9739595","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio54168.2021.9739595","pdf_url":null,"source":{"id":"https://openalex.org/S4363607846","display_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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":"2021 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/A5066895967","display_name":"Yutian Shen","orcid":"https://orcid.org/0000-0002-3870-4797"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yutian Shen","raw_affiliation_strings":["The Chinese University of Hong Kong,Department of Electronic Engineering,Hong Kong SAR,China","Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China"],"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Department of Electronic Engineering,Hong Kong SAR,China","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101479917","display_name":"Yingying Wang","orcid":"https://orcid.org/0000-0003-3293-0790"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yingying Wang","raw_affiliation_strings":["The Chinese University of Hong Kong,Department of Electronic Engineering,Hong Kong SAR,China","Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China"],"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Department of Electronic Engineering,Hong Kong SAR,China","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100675786","display_name":"Ziqi Zhao","orcid":"https://orcid.org/0009-0003-6776-3029"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ziqi Zhao","raw_affiliation_strings":["University of Science and Technology in Shenzhen,Department of Electronic and Electrical Engineering of Southern,China","Department of Electronic and Electrical Engineering of Southern, University of Science and Technology in Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"University of Science and Technology in Shenzhen,Department of Electronic and Electrical Engineering of Southern,China","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Department of Electronic and Electrical Engineering of Southern, University of Science and Technology in Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100703818","display_name":"Chenming Li","orcid":"https://orcid.org/0000-0001-6322-0834"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chenming Li","raw_affiliation_strings":["The Chinese University of Hong Kong,Department of Electronic Engineering,Hong Kong SAR,China","Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China"],"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Department of Electronic Engineering,Hong Kong SAR,China","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021531143","display_name":"Max Q.\u2010H. Meng","orcid":"https://orcid.org/0000-0002-5255-5898"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]},{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]},{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Max Q.-H. Meng","raw_affiliation_strings":["Southern University of Science and Technology in Shenzhen,Department of Electronic and Electrical Engineering,China","Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong","Shenzhen Research Institute of the Chinese University of Hong Kong in Shenzhen, China","Department of Electronic and Electrical Engineering, Southern University of Science and Technology in Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology in Shenzhen,Department of Electronic and Electrical Engineering,China","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Shenzhen Research Institute of the Chinese University of Hong Kong in Shenzhen, China","institution_ids":["https://openalex.org/I4210116924"]},{"raw_affiliation_string":"Department of Electronic and Electrical Engineering, Southern University of Science and Technology in Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5066895967"],"corresponding_institution_ids":["https://openalex.org/I177725633"],"apc_list":null,"apc_paid":null,"fwci":0.3844,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.54946181,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1258","last_page":"1263"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9794999957084656,"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":0.9726999998092651,"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":0.9395852088928223},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.714205801486969},{"id":"https://openalex.org/keywords/powered-exoskeleton","display_name":"Powered exoskeleton","score":0.6645609140396118},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5769335627555847},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5614254474639893},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5324648022651672},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5310664176940918},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4289282262325287},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.36321884393692017},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.35474908351898193},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.34764179587364197},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.34687721729278564},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.25948262214660645},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22014230489730835},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.11015543341636658}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.9395852088928223},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.714205801486969},{"id":"https://openalex.org/C45391945","wikidata":"https://www.wikidata.org/wiki/Q938523","display_name":"Powered exoskeleton","level":3,"score":0.6645609140396118},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5769335627555847},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5614254474639893},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5324648022651672},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5310664176940918},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4289282262325287},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.36321884393692017},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.35474908351898193},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.34764179587364197},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.34687721729278564},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.25948262214660645},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22014230489730835},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.11015543341636658},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio54168.2021.9739595","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio54168.2021.9739595","pdf_url":null,"source":{"id":"https://openalex.org/S4363607846","display_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7699999809265137,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1956237300","https://openalex.org/W2009631855","https://openalex.org/W2099389490","https://openalex.org/W2100030191","https://openalex.org/W2138300314","https://openalex.org/W2326141327","https://openalex.org/W2606248652","https://openalex.org/W2736601468","https://openalex.org/W2740800942","https://openalex.org/W2787938642","https://openalex.org/W2946362902","https://openalex.org/W6741002519","https://openalex.org/W6748839928","https://openalex.org/W6780559895"],"related_works":["https://openalex.org/W1989011507","https://openalex.org/W2908002960","https://openalex.org/W4386159943","https://openalex.org/W2808226217","https://openalex.org/W2062010076","https://openalex.org/W2780323031","https://openalex.org/W2015794229","https://openalex.org/W4388283394","https://openalex.org/W2120000215","https://openalex.org/W2909774674"],"abstract_inverted_index":{"Lower":[0],"limb":[1,63,177],"exoskeleton":[2,26,64,89],"for":[3],"people":[4],"suffering":[5],"from":[6,163],"unilateral":[7],"weakness":[8],"or":[9],"even":[10],"hemiparesis":[11],"has":[12,79],"attracted":[13],"considerable":[14],"interest":[15],"in":[16,22,83,157],"recent":[17],"years.":[18],"For":[19],"walking":[20,129,139],"assistance":[21,130,140],"such":[23],"scenarios,":[24],"the":[25,36,56,84,88,138,171],"is":[27,91,155],"expected":[28],"to":[29,45,127],"help":[30],"generate":[31],"symmetrically":[32],"coordinated":[33],"motion":[34,147],"with":[35,95,160,170],"unaffected":[37],"side.":[38],"Challenges":[39],"facing":[40],"current":[41],"exoskeletons":[42],"are":[43],"related":[44],"mechanical":[46],"design":[47],"and":[48,73],"control":[49,153],"strategy.":[50],"In":[51],"this":[52],"paper,":[53],"we":[54],"approach":[55],"problem":[57],"by":[58],"presenting":[59],"a":[60,69,74,122,133,146,164],"modular":[61,70,75],"lower":[62,176],"system":[65,90,94],"that":[66],"consists":[67],"of":[68,98,174],"hip":[71],"orthosis":[72],"knee":[76],"orthosis,":[77],"each":[78],"one":[80],"electric":[81],"actuator":[82],"extension/flexion":[85],"joints.":[86],"Meanwhile,":[87],"an":[92],"under-actuated":[93],"some":[96],"degree":[97],"freedoms":[99],"remains":[100],"passive,":[101],"making":[102],"it":[103],"more":[104],"complex":[105],"than":[106,120],"fully":[107],"actuated":[108],"robotic":[109],"systems":[110],"where":[111],"classical":[112],"PID":[113],"controller":[114,126],"can":[115,142],"achieve":[116],"satisfying":[117],"performance.":[118],"We":[119],"propose":[121],"reinforcement":[123],"learning":[124],"based":[125,131],"provide":[128],"on":[132],"modeled":[134],"leaderfollower":[135],"system.":[136],"And":[137],"task":[141],"be":[143],"reformulated":[144],"as":[145],"trajectory":[148],"tracking":[149],"problem.":[150],"The":[151],"proposed":[152],"method":[154],"validated":[156],"simulation":[158],"platform":[159],"data":[161],"obtained":[162],"healthy":[165],"subject":[166],"imitating":[167],"hemiplegia":[168],"patients":[169],"designed":[172],"set":[173],"single-side":[175],"exoskeleton.":[178]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
