{"id":"https://openalex.org/W4409327554","doi":"https://doi.org/10.1109/tase.2025.3559522","title":"Adaptive Human Movement Compensation Control of Supernumerary Robotic Limb for Overhead Support Task With Non-Zero-Sum Differential Game Theory","display_name":"Adaptive Human Movement Compensation Control of Supernumerary Robotic Limb for Overhead Support Task With Non-Zero-Sum Differential Game Theory","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4409327554","doi":"https://doi.org/10.1109/tase.2025.3559522"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2025.3559522","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3559522","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/A5065871949","display_name":"Jianxi Zhang","orcid":"https://orcid.org/0000-0001-7052-9215"},"institutions":[{"id":"https://openalex.org/I4387154005","display_name":"State Key Laboratory of Digital Medical Engineering","ror":"https://ror.org/03ab0at74","country_code":null,"type":"facility","lineage":["https://openalex.org/I4387154005","https://openalex.org/I76569877"]},{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianxi Zhang","raw_affiliation_strings":["State Key Laboratory of Digital Medical Engineering, Jiangsu Key Laboratory of Robot Sensing and Control, School of Instrument Science and Engineering, Southeast University, Nanjing, China","Jiangsu Key Laboratory of Robot Sensing and Control, School of Instrument Science and Engineering, State Key Laboratory of Digital Medical Engineering, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0001-7052-9215","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Digital Medical Engineering, Jiangsu Key Laboratory of Robot Sensing and Control, School of Instrument Science and Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877","https://openalex.org/I4387154005"]},{"raw_affiliation_string":"Jiangsu Key Laboratory of Robot Sensing and Control, School of Instrument Science and Engineering, State Key Laboratory of Digital Medical Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877","https://openalex.org/I4387154005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001340667","display_name":"Hong Zeng","orcid":"https://orcid.org/0000-0002-4587-6263"},"institutions":[{"id":"https://openalex.org/I4387154005","display_name":"State Key Laboratory of Digital Medical Engineering","ror":"https://ror.org/03ab0at74","country_code":null,"type":"facility","lineage":["https://openalex.org/I4387154005","https://openalex.org/I76569877"]},{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hong Zeng","raw_affiliation_strings":["State Key Laboratory of Digital Medical Engineering, Jiangsu Key Laboratory of Robot Sensing and Control, School of Instrument Science and Engineering, Southeast University, Nanjing, China","Jiangsu Key Laboratory of Robot Sensing and Control, School of Instrument Science and Engineering, State Key Laboratory of Digital Medical Engineering, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0002-4587-6263","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Digital Medical Engineering, Jiangsu Key Laboratory of Robot Sensing and Control, School of Instrument Science and Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877","https://openalex.org/I4387154005"]},{"raw_affiliation_string":"Jiangsu Key Laboratory of Robot Sensing and Control, School of Instrument Science and Engineering, State Key Laboratory of Digital Medical Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877","https://openalex.org/I4387154005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100409727","display_name":"Jia Liu","orcid":"https://orcid.org/0000-0002-8383-4048"},"institutions":[{"id":"https://openalex.org/I200845125","display_name":"Nanjing University of Information Science and Technology","ror":"https://ror.org/02y0rxk19","country_code":"CN","type":"education","lineage":["https://openalex.org/I200845125"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jia Liu","raw_affiliation_strings":["CICAEET, Nanjing University of Information Science and Technology, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0002-8383-4048","affiliations":[{"raw_affiliation_string":"CICAEET, Nanjing University of Information Science and Technology, Nanjing, China","institution_ids":["https://openalex.org/I200845125"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100723407","display_name":"Dapeng Chen","orcid":"https://orcid.org/0000-0002-1930-419X"},"institutions":[{"id":"https://openalex.org/I200845125","display_name":"Nanjing University of Information Science and Technology","ror":"https://ror.org/02y0rxk19","country_code":"CN","type":"education","lineage":["https://openalex.org/I200845125"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dapeng Chen","raw_affiliation_strings":["CICAEET, Nanjing University of Information Science and Technology, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0002-1930-419X","affiliations":[{"raw_affiliation_string":"CICAEET, Nanjing University of Information Science and Technology, Nanjing, China","institution_ids":["https://openalex.org/I200845125"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048327458","display_name":"Aiguo Song","orcid":"https://orcid.org/0000-0002-1982-6780"},"institutions":[{"id":"https://openalex.org/I4387154005","display_name":"State Key Laboratory of Digital Medical Engineering","ror":"https://ror.org/03ab0at74","country_code":null,"type":"facility","lineage":["https://openalex.org/I4387154005","https://openalex.org/I76569877"]},{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Aiguo Song","raw_affiliation_strings":["State Key Laboratory of Digital Medical Engineering, Jiangsu Key Laboratory of Robot Sensing and Control, School of Instrument Science and Engineering, Southeast University, Nanjing, China","Jiangsu Key Laboratory of Robot Sensing and Control, School of Instrument Science and Engineering, State Key Laboratory of Digital Medical Engineering, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0002-1982-6780","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Digital Medical Engineering, Jiangsu Key Laboratory of Robot Sensing and Control, School of Instrument Science and Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877","https://openalex.org/I4387154005"]},{"raw_affiliation_string":"Jiangsu Key Laboratory of Robot Sensing and Control, School of Instrument Science and Engineering, State Key Laboratory of Digital Medical Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877","https://openalex.org/I4387154005"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.4449,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.55397725,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"22","issue":null,"first_page":"14158","last_page":"14169"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9523000121116638,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9523000121116638,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.5812000036239624},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.564319372177124},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5151166319847107},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48202264308929443},{"id":"https://openalex.org/keywords/differential-game","display_name":"Differential game","score":0.4671817421913147},{"id":"https://openalex.org/keywords/supernumerary","display_name":"Supernumerary","score":0.46531060338020325},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.41412049531936646},{"id":"https://openalex.org/keywords/zero","display_name":"Zero (linguistics)","score":0.41015374660491943},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.38723811507225037},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3594983220100403},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3323851227760315},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2585800588130951},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2241397202014923},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.14452281594276428},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.09586748480796814}],"concepts":[{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.5812000036239624},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.564319372177124},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5151166319847107},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48202264308929443},{"id":"https://openalex.org/C2779006483","wikidata":"https://www.wikidata.org/wiki/Q1973196","display_name":"Differential game","level":2,"score":0.4671817421913147},{"id":"https://openalex.org/C2780610479","wikidata":"https://www.wikidata.org/wiki/Q7644068","display_name":"Supernumerary","level":2,"score":0.46531060338020325},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.41412049531936646},{"id":"https://openalex.org/C2780813799","wikidata":"https://www.wikidata.org/wiki/Q3274237","display_name":"Zero (linguistics)","level":2,"score":0.41015374660491943},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.38723811507225037},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3594983220100403},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3323851227760315},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2585800588130951},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2241397202014923},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.14452281594276428},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.09586748480796814},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2025.3559522","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3559522","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1653278139","display_name":null,"funder_award_id":"62473200","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3460734238","display_name":null,"funder_award_id":"62173089","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4974455257","display_name":null,"funder_award_id":"SBE2023020386","funder_id":"https://openalex.org/F4320327777","funder_display_name":"Jiangsu Provincial Key Research and Development Program"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320327777","display_name":"Jiangsu Provincial Key Research and Development Program","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1516472381","https://openalex.org/W1980207846","https://openalex.org/W2205201752","https://openalex.org/W2313937152","https://openalex.org/W2511957348","https://openalex.org/W2529203006","https://openalex.org/W2553892731","https://openalex.org/W2593425479","https://openalex.org/W2735426142","https://openalex.org/W2795797482","https://openalex.org/W2907920236","https://openalex.org/W2943522424","https://openalex.org/W2978480937","https://openalex.org/W3143499818","https://openalex.org/W3148310441","https://openalex.org/W3155375680","https://openalex.org/W4200099615","https://openalex.org/W4226160398","https://openalex.org/W4229024477","https://openalex.org/W4285590860","https://openalex.org/W4310515548","https://openalex.org/W4315783921","https://openalex.org/W4360897655","https://openalex.org/W4385236553","https://openalex.org/W4387475648","https://openalex.org/W4391326513","https://openalex.org/W4393214652","https://openalex.org/W4402207581","https://openalex.org/W4403675196","https://openalex.org/W6729276673","https://openalex.org/W6779440000","https://openalex.org/W6799002302","https://openalex.org/W6858916287"],"related_works":["https://openalex.org/W2020610906","https://openalex.org/W3080605978","https://openalex.org/W2261076064","https://openalex.org/W2898228250","https://openalex.org/W4221085901","https://openalex.org/W2780131064","https://openalex.org/W2022519085","https://openalex.org/W2349565758","https://openalex.org/W4400618128","https://openalex.org/W2436913496"],"abstract_inverted_index":{"The":[0],"supernumerary":[1],"robotic":[2],"limb":[3],"(SRL)":[4],"mounted":[5],"on":[6,75,109],"the":[7,29,33,36,46,73,104,117,122,133,149,155,160,177,181,193,202],"shoulder":[8],"has":[9],"been":[10],"demonstrated":[11],"to":[12,15,21,51,65,81,84,115,154,165,188,192],"be":[13,56],"able":[14],"serve":[16],"as":[17],"a":[18,127],"third":[19],"arm":[20],"assist":[22],"human":[23,40,62,76,98,156,198],"in":[24,159,212],"overhead":[25,174,213],"support":[26,118,175,214],"task.":[27,215],"However,":[28],"mechanical":[30],"connection":[31],"between":[32,59,136],"wearer":[34],"and":[35,48,61,88,120],"SRL":[37,47,60,83],"means":[38],"that":[39,147,196],"operator\u2019s":[41,123,157],"movement":[42,99],"will":[43],"continually":[44],"disturb":[45],"may":[49,55,70],"lead":[50],"instability.":[52],"Moreover,":[53],"there":[54],"physical":[57],"conflicts":[58],"operator":[63],"due":[64],"their":[66],"different":[67],"intentions,":[68],"which":[69,125],"potentially":[71],"increase":[72],"load":[74],"operator.":[77],"Therefore,":[78],"it\u2019s":[79],"necessary":[80],"control":[82,134,145,168],"ensure":[85],"stable":[86],"supporting":[87],"transparent":[89],"interaction.":[90],"Here,":[91],"we":[92,102],"propose":[93],"an":[94,143],"adaptive":[95,144],"controller":[96,179,195],"for":[97,209],"compensation.":[100],"Firstly,":[101],"model":[103],"human-SRL":[105,210],"coordinative":[106],"behavior":[107],"based":[108],"non-zero-sum":[110],"differential":[111],"game":[112],"theory":[113],"aiming":[114],"enhance":[116],"stability":[119,203],"reduce":[121],"load,":[124],"is":[126],"framework":[128],"capable":[129],"of":[130,162,204],"dynamically":[131],"regulating":[132],"strategies":[135],"two":[137],"interacting":[138],"agents.":[139],"We":[140],"then":[141],"implement":[142],"strategy":[146],"adjusts":[148],"SRL\u2019s":[150],"input":[151,158,199],"optimally":[152],"responsive":[153],"sense":[161],"Nash":[163],"equilibrium":[164],"meet":[166],"predefined":[167],"objectives.":[169],"From":[170],"experimental":[171],"results":[172],"during":[173],"task,":[176],"proposed":[178],"reduces":[180],"peak":[182],"reaction":[183],"force":[184],"from":[185],"15.59":[186],"N":[187,190],"4.50":[189],"compared":[191],"state-of-the-art":[194],"disregards":[197],"while":[200],"ensuring":[201],"support,":[205],"thereby":[206],"providing":[207],"advantage":[208],"coordination":[211]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
