{"id":"https://openalex.org/W7131088086","doi":"https://doi.org/10.1109/robio66223.2025.11377859","title":"Active Walking Assistance Strategy for Control of Human-Coupled Lower Exoskeleton System","display_name":"Active Walking Assistance Strategy for Control of Human-Coupled Lower Exoskeleton System","publication_year":2025,"publication_date":"2025-12-03","ids":{"openalex":"https://openalex.org/W7131088086","doi":"https://doi.org/10.1109/robio66223.2025.11377859"},"language":null,"primary_location":{"id":"doi:10.1109/robio66223.2025.11377859","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio66223.2025.11377859","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5079545067","display_name":"Guangkui Song","orcid":"https://orcid.org/0000-0003-3985-0523"},"institutions":[{"id":"https://openalex.org/I150229711","display_name":"University of Electronic Science and Technology of China","ror":"https://ror.org/04qr3zq92","country_code":"CN","type":"education","lineage":["https://openalex.org/I150229711"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guangkui Song","raw_affiliation_strings":["Center for Robotics, School of Automation and Engineering, University of Electronic Science and Technology of China,Chengdu,China,611731"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Robotics, School of Automation and Engineering, University of Electronic Science and Technology of China,Chengdu,China,611731","institution_ids":["https://openalex.org/I150229711"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126640197","display_name":"Botian Huang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210131342","display_name":"Yibin University","ror":"https://ror.org/03w8m2977","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210131342"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Botian Huang","raw_affiliation_strings":["School of Automation and Information Engineering, Sichuan University of Science and Engineering,Yibin,China,643000"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation and Information Engineering, Sichuan University of Science and Engineering,Yibin,China,643000","institution_ids":["https://openalex.org/I4210131342"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023350625","display_name":"Yafei Ou","orcid":"https://orcid.org/0000-0002-2989-9991"},"institutions":[{"id":"https://openalex.org/I4210131342","display_name":"Yibin University","ror":"https://ror.org/03w8m2977","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210131342"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yafei Ou","raw_affiliation_strings":["School of Automation and Information Engineering, Sichuan University of Science and Engineering,Yibin,China,643000"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation and Information Engineering, Sichuan University of Science and Engineering,Yibin,China,643000","institution_ids":["https://openalex.org/I4210131342"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065137338","display_name":"Chaobin Zou","orcid":"https://orcid.org/0000-0003-3457-6369"},"institutions":[{"id":"https://openalex.org/I150229711","display_name":"University of Electronic Science and Technology of China","ror":"https://ror.org/04qr3zq92","country_code":"CN","type":"education","lineage":["https://openalex.org/I150229711"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chaobin Zou","raw_affiliation_strings":["Center for Robotics, School of Automation and Engineering, University of Electronic Science and Technology of China,Chengdu,China,611731"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Robotics, School of Automation and Engineering, University of Electronic Science and Technology of China,Chengdu,China,611731","institution_ids":["https://openalex.org/I150229711"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017639281","display_name":"Zhinan Peng","orcid":"https://orcid.org/0000-0003-2239-4920"},"institutions":[{"id":"https://openalex.org/I150229711","display_name":"University of Electronic Science and Technology of China","ror":"https://ror.org/04qr3zq92","country_code":"CN","type":"education","lineage":["https://openalex.org/I150229711"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhinan Peng","raw_affiliation_strings":["Center for Robotics, School of Automation and Engineering, University of Electronic Science and Technology of China,Chengdu,China,611731"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Robotics, School of Automation and Engineering, University of Electronic Science and Technology of China,Chengdu,China,611731","institution_ids":["https://openalex.org/I150229711"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126589887","display_name":"Hong Cheng","orcid":null},"institutions":[{"id":"https://openalex.org/I150229711","display_name":"University of Electronic Science and Technology of China","ror":"https://ror.org/04qr3zq92","country_code":"CN","type":"education","lineage":["https://openalex.org/I150229711"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hong Cheng","raw_affiliation_strings":["Center for Robotics, School of Automation and Engineering, University of Electronic Science and Technology of China,Chengdu,China,611731"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Robotics, School of Automation and Engineering, University of Electronic Science and Technology of China,Chengdu,China,611731","institution_ids":["https://openalex.org/I150229711"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5037708488","display_name":"Jing Qiu","orcid":"https://orcid.org/0000-0003-4393-4084"},"institutions":[{"id":"https://openalex.org/I150229711","display_name":"University of Electronic Science and Technology of China","ror":"https://ror.org/04qr3zq92","country_code":"CN","type":"education","lineage":["https://openalex.org/I150229711"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jing Qiu","raw_affiliation_strings":["School of Mechanical Engineering, University of Electronic Science and Technology of China,Chengdu,China,611731"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, University of Electronic Science and Technology of China,Chengdu,China,611731","institution_ids":["https://openalex.org/I150229711"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.76461415,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1296","last_page":"1301"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.967199981212616,"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":0.967199981212616,"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":0.015799999237060547,"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/T10114","display_name":"Balance, Gait, and Falls Prevention","score":0.003599999938160181,"subfield":{"id":"https://openalex.org/subfields/3612","display_name":"Physical Therapy, Sports Therapy and Rehabilitation"},"field":{"id":"https://openalex.org/fields/36","display_name":"Health Professions"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.90420001745224},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.7623999714851379},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.42980000376701355},{"id":"https://openalex.org/keywords/lower-limb","display_name":"Lower limb","score":0.3935999870300293},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.34610000252723694},{"id":"https://openalex.org/keywords/servo","display_name":"Servo","score":0.33079999685287476}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.90420001745224},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.7623999714851379},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.5080000162124634},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.42980000376701355},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.40119999647140503},{"id":"https://openalex.org/C2989316616","wikidata":"https://www.wikidata.org/wiki/Q6027402","display_name":"Lower limb","level":2,"score":0.3935999870300293},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3774000108242035},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.35600000619888306},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.34610000252723694},{"id":"https://openalex.org/C107354338","wikidata":"https://www.wikidata.org/wiki/Q1937153","display_name":"Servo","level":2,"score":0.33079999685287476},{"id":"https://openalex.org/C2778818304","wikidata":"https://www.wikidata.org/wiki/Q1819478","display_name":"Rehabilitation","level":2,"score":0.3262999951839447},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3041999936103821},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2888000011444092},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.28110000491142273},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.25429999828338623}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio66223.2025.11377859","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio66223.2025.11377859","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2000566761","display_name":null,"funder_award_id":"ZYGX2024J016,ZYGX2024J017","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G7329928290","display_name":null,"funder_award_id":"662303092","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W2078763164","https://openalex.org/W2102046115","https://openalex.org/W2115817551","https://openalex.org/W2145789604","https://openalex.org/W2154128597","https://openalex.org/W2326141327","https://openalex.org/W2411309527","https://openalex.org/W2908949019","https://openalex.org/W2910904644","https://openalex.org/W3037011492","https://openalex.org/W3094084323","https://openalex.org/W3154613641","https://openalex.org/W3162852858","https://openalex.org/W3183839786","https://openalex.org/W3206130846","https://openalex.org/W4205763583","https://openalex.org/W4210298647","https://openalex.org/W4223934205","https://openalex.org/W4226377401","https://openalex.org/W4386320449","https://openalex.org/W4388721418","https://openalex.org/W4390933837","https://openalex.org/W4401413862","https://openalex.org/W4409077039"],"related_works":[],"abstract_inverted_index":{"Lower":[0,138],"Limb":[1],"Exoskeletons":[2,46],"(LLEs)":[3],"are":[4,48,107],"widely":[5],"concerned":[6],"by":[7,41,109],"academia":[8],"and":[9,18,81,100,132],"industry":[10],"due":[11],"to":[12,29],"the":[13,26,30,38,42,64,96,101,119,125,128,144,147],"perfect":[14],"performance":[15],"for":[16,62,94,104],"rehabilitation":[17],"strength":[19],"augmentation":[20],"applications.":[21],"Traditional":[22],"strategy":[23,61,74],"only":[24],"consider":[25],"servo":[27],"accuracy":[28],"reference":[31],"torque":[32,79,88],"obtained":[33],"from":[34],"control":[35],"methods.":[36],"However,":[37],"Effects":[39],"caused":[40],"Inertial":[43],"Torques":[44],"of":[45,66,76,98,127,146],"(EITE)":[47],"ignored.":[49],"In":[50],"this":[51],"paper,":[52],"we":[53],"propose":[54],"a":[55,82,135],"novel":[56],"Active":[57],"Walking":[58],"Assistance":[59],"(AWA)":[60],"assisting":[63,95],"walking":[65,97],"pilots":[67,106],"(the":[68],"people":[69],"wearing":[70],"exoskeletons).":[71],"The":[72,86,113],"AWA":[73],"consists":[75],"an":[77],"assistance":[78,87,92,111],"determiner":[80,89],"model":[83,120],"based":[84,121],"controller.":[85,122],"can":[90,115],"provide":[91],"torques":[93],"pilots,":[99],"differentiated":[102],"needs":[103],"different":[105],"met":[108],"adjusting":[110],"parameters.":[112],"EITE":[114],"be":[116],"dealt":[117],"with":[118],"We":[123],"illustrate":[124],"function":[126],"parameters":[129],"through":[130],"simulations":[131],"experiments":[133],"on":[134],"HUman-powered":[136],"Augmentation":[137],"EXoskeleton":[139],"(HUALEX)":[140],"system":[141],"further":[142],"validate":[143],"effectiveness":[145],"proposed":[148],"strategy.":[149]},"counts_by_year":[],"updated_date":"2026-08-01T09:00:35.917206","created_date":"2026-02-24T00:00:00"}