{"id":"https://openalex.org/W4389065345","doi":"https://doi.org/10.1109/tase.2023.3335401","title":"Uncertainty Compensated High-Order Adaptive Iteration Learning Control for Robot-Assisted Upper Limb Rehabilitation","display_name":"Uncertainty Compensated High-Order Adaptive Iteration Learning Control for Robot-Assisted Upper Limb Rehabilitation","publication_year":2023,"publication_date":"2023-11-27","ids":{"openalex":"https://openalex.org/W4389065345","doi":"https://doi.org/10.1109/tase.2023.3335401"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2023.3335401","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2023.3335401","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-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/A5091654425","display_name":"Qingsong Ai","orcid":"https://orcid.org/0000-0003-4283-2289"},"institutions":[{"id":"https://openalex.org/I196699116","display_name":"Wuhan University of Technology","ror":"https://ror.org/03fe7t173","country_code":"CN","type":"education","lineage":["https://openalex.org/I196699116"]},{"id":"https://openalex.org/I75900474","display_name":"Hubei University","ror":"https://ror.org/03a60m280","country_code":"CN","type":"education","lineage":["https://openalex.org/I75900474"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qingsong Ai","raw_affiliation_strings":["School of Information Engineering, Wuhan University of Technology, Wuhan, China","School of Computer Science and Information Engineering, Hubei University, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0003-4283-2289","affiliations":[{"raw_affiliation_string":"School of Information Engineering, Wuhan University of Technology, Wuhan, China","institution_ids":["https://openalex.org/I196699116"]},{"raw_affiliation_string":"School of Computer Science and Information Engineering, Hubei University, Wuhan, China","institution_ids":["https://openalex.org/I75900474"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101992934","display_name":"Zemin Liu","orcid":"https://orcid.org/0000-0002-2261-2812"},"institutions":[{"id":"https://openalex.org/I75900474","display_name":"Hubei University","ror":"https://ror.org/03a60m280","country_code":"CN","type":"education","lineage":["https://openalex.org/I75900474"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zemin Liu","raw_affiliation_strings":["School of Computer Science and Information Engineering, Hubei University, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0002-2261-2812","affiliations":[{"raw_affiliation_string":"School of Computer Science and Information Engineering, Hubei University, Wuhan, China","institution_ids":["https://openalex.org/I75900474"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088723765","display_name":"Wei Meng","orcid":"https://orcid.org/0000-0003-0209-8753"},"institutions":[{"id":"https://openalex.org/I75900474","display_name":"Hubei University","ror":"https://ror.org/03a60m280","country_code":"CN","type":"education","lineage":["https://openalex.org/I75900474"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Meng","raw_affiliation_strings":["School of Computer Science and Information Engineering, Hubei University, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0003-0209-8753","affiliations":[{"raw_affiliation_string":"School of Computer Science and Information Engineering, Hubei University, Wuhan, China","institution_ids":["https://openalex.org/I75900474"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100414577","display_name":"Quan Liu","orcid":"https://orcid.org/0000-0002-9036-0290"},"institutions":[{"id":"https://openalex.org/I75900474","display_name":"Hubei University","ror":"https://ror.org/03a60m280","country_code":"CN","type":"education","lineage":["https://openalex.org/I75900474"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Quan Liu","raw_affiliation_strings":["School of Computer Science and Information Engineering, Hubei University, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0002-9036-0290","affiliations":[{"raw_affiliation_string":"School of Computer Science and Information Engineering, Hubei University, Wuhan, China","institution_ids":["https://openalex.org/I75900474"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035866142","display_name":"Sheng Quan Xie","orcid":"https://orcid.org/0000-0003-2641-2620"},"institutions":[{"id":"https://openalex.org/I130828816","display_name":"University of Leeds","ror":"https://ror.org/024mrxd33","country_code":"GB","type":"education","lineage":["https://openalex.org/I130828816"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Sheng Q. Xie","raw_affiliation_strings":["School of Electronic and Electrical Engineering, University of Leeds, Leeds, U.K"],"raw_orcid":"https://orcid.org/0000-0003-2641-2620","affiliations":[{"raw_affiliation_string":"School of Electronic and Electrical Engineering, University of Leeds, Leeds, U.K","institution_ids":["https://openalex.org/I130828816"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.5717,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.84091399,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"21","issue":"4","first_page":"7004","last_page":"7015"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9994999766349792,"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"}},"topics":[{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9994999766349792,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9876000285148621,"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/T11274","display_name":"Botulinum Toxin and Related Neurological Disorders","score":0.9765999913215637,"subfield":{"id":"https://openalex.org/subfields/2728","display_name":"Neurology"},"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/robot","display_name":"Robot","score":0.5617187023162842},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5368457436561584},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.505195677280426},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.4881022870540619},{"id":"https://openalex.org/keywords/rehabilitation-robotics","display_name":"Rehabilitation robotics","score":0.44661635160446167},{"id":"https://openalex.org/keywords/rehabilitation","display_name":"Rehabilitation","score":0.4356440603733063},{"id":"https://openalex.org/keywords/iterative-learning-control","display_name":"Iterative learning control","score":0.426146924495697},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4066857099533081},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3865440785884857},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.34486326575279236},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.30924224853515625},{"id":"https://openalex.org/keywords/physical-therapy","display_name":"Physical therapy","score":0.0908440351486206}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5617187023162842},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5368457436561584},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.505195677280426},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.4881022870540619},{"id":"https://openalex.org/C2775862927","wikidata":"https://www.wikidata.org/wiki/Q7309766","display_name":"Rehabilitation robotics","level":3,"score":0.44661635160446167},{"id":"https://openalex.org/C2778818304","wikidata":"https://www.wikidata.org/wiki/Q1819478","display_name":"Rehabilitation","level":2,"score":0.4356440603733063},{"id":"https://openalex.org/C117619785","wikidata":"https://www.wikidata.org/wiki/Q6094414","display_name":"Iterative learning control","level":3,"score":0.426146924495697},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4066857099533081},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3865440785884857},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34486326575279236},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.30924224853515625},{"id":"https://openalex.org/C1862650","wikidata":"https://www.wikidata.org/wiki/Q186005","display_name":"Physical therapy","level":1,"score":0.0908440351486206},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tase.2023.3335401","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2023.3335401","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"},{"id":"pmh:oai:eprints.whiterose.ac.uk:208954","is_oa":false,"landing_page_url":"https://orcid.org/0000-0003-4283-2289>,","pdf_url":null,"source":{"id":"https://openalex.org/S4306400854","display_name":"White Rose Research Online (University of Leeds, The University of Sheffield, University of York)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2800616092","host_organization_name":"White Rose University Consortium","host_organization_lineage":["https://openalex.org/I2800616092"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G8063478117","display_name":null,"funder_award_id":"52275029","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8117245441","display_name":null,"funder_award_id":"52075398","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"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1665256791","https://openalex.org/W1969196057","https://openalex.org/W1996944004","https://openalex.org/W2025939589","https://openalex.org/W2026893961","https://openalex.org/W2067030256","https://openalex.org/W2108695617","https://openalex.org/W2140280613","https://openalex.org/W2142034033","https://openalex.org/W2325861140","https://openalex.org/W2523311452","https://openalex.org/W2537878323","https://openalex.org/W2559850580","https://openalex.org/W2619391573","https://openalex.org/W2622041540","https://openalex.org/W2749189037","https://openalex.org/W2795825999","https://openalex.org/W2808934964","https://openalex.org/W2888838050","https://openalex.org/W2963476895","https://openalex.org/W2973062956","https://openalex.org/W2981091169","https://openalex.org/W2988191778","https://openalex.org/W2988940473","https://openalex.org/W3015646250","https://openalex.org/W3092395845","https://openalex.org/W3153789195","https://openalex.org/W4296745851","https://openalex.org/W4313169047"],"related_works":["https://openalex.org/W2761624296","https://openalex.org/W4386994694","https://openalex.org/W4388738109","https://openalex.org/W2362901947","https://openalex.org/W2362086884","https://openalex.org/W1606071314","https://openalex.org/W2350210972","https://openalex.org/W2369126164","https://openalex.org/W1814814472","https://openalex.org/W3094796826"],"abstract_inverted_index":{"Upper":[0],"limb":[1],"rehabilitation":[2,39,70,132,192],"robot":[3,22,67,133,263],"can":[4,209,266],"assist":[5,171],"stroke":[6,172],"patients":[7,173,201],"to":[8,12,55,92,109,136,147,161,170,174,202,253,270],"complete":[9],"daily":[10,180],"activities":[11],"promote":[13],"the":[14,21,25,33,38,57,66,69,86,94,100,104,111,138,141,149,168,188,211,224,241,244,247,254,262],"recovery":[15],"of":[16,37,59,65,121,140,155,191,243,261],"upper-limb":[17],"motor":[18,176],"functions.":[19],"However,":[20],"uncertainty":[23,45,60,83,101,196,221,228],"and":[24,63,85,99,127,152,197,227,238,257],"patient\u2019s":[26],"unconscious":[27],"disturbance":[28,199],"impose":[29],"great":[30],"difficulties":[31,184],"on":[32,130],"high-performance":[34],"trajectory":[35],"tracking":[36,189],"robot.":[40],"In":[41],"this":[42],"paper,":[43],"an":[44],"compensated":[46],"high-order":[47,116,232],"adaptive":[48],"iterative":[49],"learning":[50,117,233],"controller":[51,249],"(UCHAILC)":[52],"is":[53,75,90,123,145,250],"proposed":[54,142,207,248],"reduce":[56],"impact":[58],"from":[61,200],"inside":[62],"outside":[64],"during":[68],"process.":[71],"The":[72,119,182,206],"nonlinear":[73,213,272],"system":[74,214],"converted":[76],"into":[77,215],"a":[78,115,131,216],"dynamic":[79,217,255],"linearization":[80],"model":[81,219,256],"with":[82,220,275],"compensation,":[84,222],"optimization":[87],"criterion":[88],"method":[89],"adopted":[91],"estimate":[93],"pseudo-partial":[95],"derivative":[96],"(PPD)":[97],"parameters":[98,113,226],"respectively,":[102],"then":[103,223],"previous":[105],"iterations":[106],"are":[107,134,229],"used":[108],"update":[110],"current":[112],"through":[114,231],"scheme.":[118],"convergence":[120],"UCHAILC":[122,208],"theoretically":[124],"proved.":[125],"Simulation":[126],"control":[128,273],"experiments":[129,239],"given":[135],"validate":[137],"effectiveness":[139],"method,":[143],"which":[144,265],"significant":[146],"improve":[148],"training":[150],"security":[151],"physiotherapy":[153],"effect":[154],"robot-assisted":[156],"rehabilitation.":[157],"<italic":[158],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[159],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Note":[160],"Practitioners</i>":[162],"\u2014This":[163],"paper":[164],"was":[165],"motivated":[166],"by":[167,195],"need":[169],"restore":[175],"function":[177],"for":[178],"executing":[179],"activities.":[181],"inherent":[183],"lie":[185],"in":[186],"reducing":[187],"errors":[190],"robots":[193],"caused":[194],"involuntary":[198],"avoid":[203],"secondary":[204],"injury.":[205],"transform":[210],"complex":[212],"linear":[218],"PPD":[225],"estimated":[230],"law.":[234],"Theoretical":[235],"analysis,":[236],"simulation,":[237],"verified":[240],"feasibility":[242],"method.":[245],"Furthermore,":[246],"not":[251],"limited":[252],"hardware":[258],"driving":[259],"mode":[260],"system,":[264],"be":[267],"easily":[268],"transplanted":[269],"other":[271],"systems":[274],"uncertainties.":[276]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}