{"id":"https://openalex.org/W2914604601","doi":"https://doi.org/10.1109/ssci.2018.8628896","title":"A CPG-Inspired Assist-As-Needed Controller for an Upper-Limb Rehabilitation Robot","display_name":"A CPG-Inspired Assist-As-Needed Controller for an Upper-Limb Rehabilitation Robot","publication_year":2018,"publication_date":"2018-11-01","ids":{"openalex":"https://openalex.org/W2914604601","doi":"https://doi.org/10.1109/ssci.2018.8628896","mag":"2914604601"},"language":"en","primary_location":{"id":"doi:10.1109/ssci.2018.8628896","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssci.2018.8628896","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE Symposium Series on Computational Intelligence (SSCI)","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/A5109462399","display_name":"Liang Peng","orcid":"https://orcid.org/0000-0001-6531-7517"},"institutions":[{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liang Peng","raw_affiliation_strings":["State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Beijing, China","institution_ids":["https://openalex.org/I4210094879"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100337524","display_name":"Chen Wang","orcid":"https://orcid.org/0000-0001-9796-708X"},"institutions":[{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chen Wang","raw_affiliation_strings":["University of Chinese Academy of Sciences, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051343704","display_name":"Lincong Luo","orcid":"https://orcid.org/0000-0002-8457-7995"},"institutions":[{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lincong Luo","raw_affiliation_strings":["University of Chinese Academy of Sciences, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100321005","display_name":"Sheng Chen","orcid":"https://orcid.org/0000-0002-9566-1383"},"institutions":[{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Sheng Chen","raw_affiliation_strings":["University of Chinese Academy of Sciences, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109333020","display_name":"Zeng\u2010Guang Hou","orcid":"https://orcid.org/0000-0002-1534-5840"},"institutions":[{"id":"https://openalex.org/I4210097554","display_name":"Center for Excellence in Brain Science and Intelligence Technology","ror":"https://ror.org/00vpwhm04","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210097554"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zeng-Guang Hou","raw_affiliation_strings":["CAS Center for Excellence in Brain Science and Intelligence Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CAS Center for Excellence in Brain Science and Intelligence Technology, Beijing, China","institution_ids":["https://openalex.org/I4210097554"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100665273","display_name":"Weiqun Wang","orcid":"https://orcid.org/0000-0001-6981-297X"},"institutions":[{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weiqun Wang","raw_affiliation_strings":["State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Beijing, China","institution_ids":["https://openalex.org/I4210094879"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.0366,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.76709894,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"2200","last_page":"2206"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9987999796867371,"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":0.9987999796867371,"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":0.9987000226974487,"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":0.9980000257492065,"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/computer-science","display_name":"Computer science","score":0.5955122709274292},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5946570038795471},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4997894763946533},{"id":"https://openalex.org/keywords/rehabilitation","display_name":"Rehabilitation","score":0.4976101219654083},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.468699187040329},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3679981827735901},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25578728318214417},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.21190199255943298},{"id":"https://openalex.org/keywords/physical-therapy","display_name":"Physical therapy","score":0.13631847500801086},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.06806814670562744}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5955122709274292},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5946570038795471},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4997894763946533},{"id":"https://openalex.org/C2778818304","wikidata":"https://www.wikidata.org/wiki/Q1819478","display_name":"Rehabilitation","level":2,"score":0.4976101219654083},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.468699187040329},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3679981827735901},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25578728318214417},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.21190199255943298},{"id":"https://openalex.org/C1862650","wikidata":"https://www.wikidata.org/wiki/Q186005","display_name":"Physical therapy","level":1,"score":0.13631847500801086},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.06806814670562744},{"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/ssci.2018.8628896","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssci.2018.8628896","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE Symposium Series on Computational Intelligence (SSCI)","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":21,"referenced_works":["https://openalex.org/W1885639605","https://openalex.org/W1892385946","https://openalex.org/W1972194218","https://openalex.org/W1978023077","https://openalex.org/W2007274837","https://openalex.org/W2040344946","https://openalex.org/W2046127725","https://openalex.org/W2073801600","https://openalex.org/W2089421806","https://openalex.org/W2113933310","https://openalex.org/W2119985669","https://openalex.org/W2126176249","https://openalex.org/W2137952706","https://openalex.org/W2157298221","https://openalex.org/W2160208503","https://openalex.org/W2207505143","https://openalex.org/W2321409658","https://openalex.org/W2490084223","https://openalex.org/W2651938983","https://openalex.org/W6682945203","https://openalex.org/W6688325891"],"related_works":["https://openalex.org/W2065866188","https://openalex.org/W2468580946","https://openalex.org/W2064410155","https://openalex.org/W2331071954","https://openalex.org/W2360512056","https://openalex.org/W4289519383","https://openalex.org/W291986995","https://openalex.org/W2403685834","https://openalex.org/W2403558059","https://openalex.org/W2258092894"],"abstract_inverted_index":{"Robot":[0],"assisted":[1],"rehabilitation":[2,46,116,155],"training":[3,41,47,121],"is":[4,74,149],"promising":[5],"to":[6,23,38,94,151],"be":[7],"an":[8],"effective":[9],"therapy":[10],"for":[11,20,42],"post":[12],"stroke":[13],"patients,":[14],"while":[15],"it's":[16],"still":[17],"a":[18,35,143],"challenge":[19],"robot":[21,71,90],"control":[22,105],"achieve":[24],"the":[25,52,62,70,78,82,89,97,112,120,127,138],"objective":[26],"of":[27,111,115],"\u201cAssist":[28],"As":[29],"Needed\u201d":[30],"(AAN)":[31],"This":[32,107],"paper":[33],"introduces":[34],"new":[36],"method":[37,108],"implement":[39,152],"AAN":[40],"repetitive":[43,113],"upper":[44],"limb":[45],"in":[48],"three":[49],"steps:":[50],"(1)":[51],"subject's":[53,128],"motion":[54,85,130,135],"frequency":[55],"and":[56,81,87,99,118,132,148],"phase":[57],"are":[58],"estimated":[59],"adaptively":[60],"using":[61],"artificial":[63],"central":[64],"pattern":[65],"generator":[66],"(CPG)":[67],"algorithm,":[68],"(2)":[69],"reference":[72,98],"trajectory":[73,122],"generated":[75],"based":[76,102],"on":[77,103,153],"minimum-jerk":[79],"principle":[80],"patient's":[83],"instantaneous":[84],"phase,":[86],"(3)":[88],"provides":[91],"assistance":[92],"according":[93],"errors":[95],"between":[96],"actual":[100],"trajectories":[101],"impedance":[104],"method.":[106],"takes":[109],"advantage":[110],"feature":[114],"training,":[117],"generates":[119],"on-line":[123],"by":[124],"considering":[125],"both":[126],"active":[129],"intention":[131],"human":[133],"normal":[134],"requirements.":[136],"Besides,":[137],"algorithm":[139],"does":[140],"not":[141],"need":[142],"complex":[144],"human-robot":[145],"interaction":[146],"model":[147],"easy":[150],"multi-DOF":[154],"robots.":[156]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":4},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
