{"id":"https://openalex.org/W4411202914","doi":"https://doi.org/10.1109/tase.2025.3578594","title":"Human\u2013Robot Coordination Control for Sit-to-Stand Assistance in Hemiparetic Patients With Supernumerary Robotic Leg","display_name":"Human\u2013Robot Coordination Control for Sit-to-Stand Assistance in Hemiparetic Patients With Supernumerary Robotic Leg","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4411202914","doi":"https://doi.org/10.1109/tase.2025.3578594"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2025.3578594","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3578594","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/A5010245248","display_name":"Jie Zuo","orcid":"https://orcid.org/0000-0002-9167-6780"},"institutions":[{"id":"https://openalex.org/I4210110997","display_name":"Ministry of Education","ror":"https://ror.org/01xexqx38","country_code":"ME","type":"government","lineage":["https://openalex.org/I4210110997"]},{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN","ME"],"is_corresponding":true,"raw_author_name":"Jie Zuo","raw_affiliation_strings":["Key Laboratory of Ministry of Education for Image Processing and Intelligent Control, Hubei Key Laboratory of Brain-Inspired Intelligent Systems, and the School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, China","the School of Artificial Intelligence and Automation, Key Laboratory of Ministry of Education for Image Processing and Intelligent Control and the Hubei Key Laboratory of Brain-inspired Intelligent Systems, Huazhong University of Science and Technology, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Ministry of Education for Image Processing and Intelligent Control, Hubei Key Laboratory of Brain-Inspired Intelligent Systems, and the School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I4210110997"]},{"raw_affiliation_string":"the School of Artificial Intelligence and Automation, Key Laboratory of Ministry of Education for Image Processing and Intelligent Control and the Hubei Key Laboratory of Brain-inspired Intelligent Systems, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000382835","display_name":"Jun Huo","orcid":"https://orcid.org/0000-0001-8122-1806"},"institutions":[{"id":"https://openalex.org/I4210110997","display_name":"Ministry of Education","ror":"https://ror.org/01xexqx38","country_code":"ME","type":"government","lineage":["https://openalex.org/I4210110997"]},{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN","ME"],"is_corresponding":false,"raw_author_name":"Jun Huo","raw_affiliation_strings":["Key Laboratory of Ministry of Education for Image Processing and Intelligent Control, Hubei Key Laboratory of Brain-Inspired Intelligent Systems, and the School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, China","the School of Artificial Intelligence and Automation, Key Laboratory of Ministry of Education for Image Processing and Intelligent Control and the Hubei Key Laboratory of Brain-inspired Intelligent Systems, Huazhong University of Science and Technology, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Ministry of Education for Image Processing and Intelligent Control, Hubei Key Laboratory of Brain-Inspired Intelligent Systems, and the School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I4210110997"]},{"raw_affiliation_string":"the School of Artificial Intelligence and Automation, Key Laboratory of Ministry of Education for Image Processing and Intelligent Control and the Hubei Key Laboratory of Brain-inspired Intelligent Systems, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015683250","display_name":"Xiling Xiao","orcid":null},"institutions":[{"id":"https://openalex.org/I1318643470","display_name":"Union Hospital","ror":"https://ror.org/01j7r2734","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I1318643470"]},{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiling Xiao","raw_affiliation_strings":["Department of Rehabilitation, Union Hospital, Tongji Medical College, Huazhong University of Science and Technology, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"Department of Rehabilitation, Union Hospital, Tongji Medical College, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I1318643470","https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021654245","display_name":"Yanzhao Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I1318643470","display_name":"Union Hospital","ror":"https://ror.org/01j7r2734","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I1318643470"]},{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanzhao Zhang","raw_affiliation_strings":["Department of Rehabilitation, Union Hospital, Tongji Medical College, Huazhong University of Science and Technology, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"Department of Rehabilitation, Union Hospital, Tongji Medical College, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I1318643470","https://openalex.org/I47720641"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066790771","display_name":"Jian Huang","orcid":"https://orcid.org/0000-0002-6267-8824"},"institutions":[{"id":"https://openalex.org/I4210110997","display_name":"Ministry of Education","ror":"https://ror.org/01xexqx38","country_code":"ME","type":"government","lineage":["https://openalex.org/I4210110997"]},{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN","ME"],"is_corresponding":false,"raw_author_name":"Jian Huang","raw_affiliation_strings":["Key Laboratory of Ministry of Education for Image Processing and Intelligent Control, Hubei Key Laboratory of Brain-Inspired Intelligent Systems, and the School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, China","the School of Artificial Intelligence and Automation, Key Laboratory of Ministry of Education for Image Processing and Intelligent Control and the Hubei Key Laboratory of Brain-inspired Intelligent Systems, Huazhong University of Science and Technology, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Ministry of Education for Image Processing and Intelligent Control, Hubei Key Laboratory of Brain-Inspired Intelligent Systems, and the School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I4210110997"]},{"raw_affiliation_string":"the School of Artificial Intelligence and Automation, Key Laboratory of Ministry of Education for Image Processing and Intelligent Control and the Hubei Key Laboratory of Brain-inspired Intelligent Systems, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5010245248"],"corresponding_institution_ids":["https://openalex.org/I4210110997","https://openalex.org/I47720641"],"apc_list":null,"apc_paid":null,"fwci":1.9422,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.86702571,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":"22","issue":null,"first_page":"16591","last_page":"16602"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9925000071525574,"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":0.9925000071525574,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9886999726295471,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5379956364631653},{"id":"https://openalex.org/keywords/motor-coordination","display_name":"Motor coordination","score":0.5192692279815674},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4880629777908325},{"id":"https://openalex.org/keywords/supernumerary","display_name":"Supernumerary","score":0.4573897123336792},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.4346771240234375},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4293730556964874},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.42525067925453186},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.42391419410705566},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3902275562286377},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3431033194065094},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3383055329322815},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3192668855190277},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.294376015663147},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.23116356134414673},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.19952267408370972},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.08548828959465027}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5379956364631653},{"id":"https://openalex.org/C113062710","wikidata":"https://www.wikidata.org/wiki/Q2463100","display_name":"Motor coordination","level":2,"score":0.5192692279815674},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4880629777908325},{"id":"https://openalex.org/C2780610479","wikidata":"https://www.wikidata.org/wiki/Q7644068","display_name":"Supernumerary","level":2,"score":0.4573897123336792},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.4346771240234375},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4293730556964874},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.42525067925453186},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.42391419410705566},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3902275562286377},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3431033194065094},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3383055329322815},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3192668855190277},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.294376015663147},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.23116356134414673},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.19952267408370972},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.08548828959465027},{"id":"https://openalex.org/C118552586","wikidata":"https://www.wikidata.org/wiki/Q7867","display_name":"Psychiatry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2025.3578594","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3578594","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/G4395976603","display_name":null,"funder_award_id":"2022YFB4700204","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G6007956911","display_name":null,"funder_award_id":"2025AFB119","funder_id":"https://openalex.org/F4320322186","funder_display_name":"Natural Science Foundation of Hubei Province"},{"id":"https://openalex.org/G6150420632","display_name":null,"funder_award_id":"2022YFB4700200","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"}],"funders":[{"id":"https://openalex.org/F4320322186","display_name":"Natural Science Foundation of Hubei Province","ror":null},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W2023186138","https://openalex.org/W2156394750","https://openalex.org/W2897873640","https://openalex.org/W2906023997","https://openalex.org/W2917250835","https://openalex.org/W2967625847","https://openalex.org/W3011261183","https://openalex.org/W3073116533","https://openalex.org/W3091896513","https://openalex.org/W3137454466","https://openalex.org/W3151108738","https://openalex.org/W3174470022","https://openalex.org/W3184026106","https://openalex.org/W3185197002","https://openalex.org/W3198242341","https://openalex.org/W3199034447","https://openalex.org/W4205679663","https://openalex.org/W4220912394","https://openalex.org/W4226148091","https://openalex.org/W4226437765","https://openalex.org/W4229024477","https://openalex.org/W4296457156","https://openalex.org/W4319996222","https://openalex.org/W4367721676","https://openalex.org/W4382657783","https://openalex.org/W4385877210","https://openalex.org/W4389037278","https://openalex.org/W4389668482","https://openalex.org/W4391067688","https://openalex.org/W4392940092","https://openalex.org/W4393241187","https://openalex.org/W4400679344","https://openalex.org/W4404955281","https://openalex.org/W6605275227"],"related_works":["https://openalex.org/W2171912896","https://openalex.org/W2542723153","https://openalex.org/W2021541810","https://openalex.org/W2133150803","https://openalex.org/W3096187747","https://openalex.org/W2291700020","https://openalex.org/W2086863125","https://openalex.org/W3004220142","https://openalex.org/W4362682344","https://openalex.org/W3197961851"],"abstract_inverted_index":{"In":[0],"light":[1],"of":[2,91,97,142],"global":[3],"aging":[4],"and":[5,34,53,117,135],"prevalent":[6],"stroke-related":[7],"hemiplegia,":[8],"this":[9],"study":[10],"addresses":[11],"challenges":[12,58],"in":[13,59,71,103,131],"robot-assisted":[14],"Sit-to-Stand":[15],"(STS)":[16],"movements,":[17],"a":[18],"daily":[19],"activity":[20,137],"prone":[21],"to":[22,81],"falls.":[23],"Supernumerary":[24],"Robotic":[25],"Legs":[26],"(SRL)":[27],"serve":[28],"as":[29],"independent":[30],"support,":[31],"enhancing":[32],"stability":[33],"limb":[35],"movement":[36],"range.":[37],"Existing":[38],"coordination":[39,56,67],"control":[40,57,68],"methods":[41],"lack":[42],"personalization":[43],"for":[44,49,106,148],"STS":[45,132],"assistance,":[46],"requiring":[47],"solutions":[48],"human":[50],"intent":[51],"transmission":[52],"rapidly":[54],"optimize":[55],"the":[60,121,140,143],"non-coupled":[61],"human-robot":[62],"system.":[63],"The":[64,89,126],"proposed":[65,144],"human-SRL":[66],"algorithm,":[69],"grounded":[70],"personalized":[72],"SRL-human":[73],"coupling":[74,108],"models,":[75],"incorporates":[76],"surface":[77],"electromyography":[78],"(sEMG)":[79],"signals":[80],"design":[82],"an":[83],"intent-driven":[84],"variable":[85],"stiffness":[86],"impedance":[87,98],"control.":[88],"inclusion":[90],"incremental":[92],"learning":[93],"enables":[94],"rapid":[95],"optimization":[96],"parameters,":[99],"facilitating":[100],"real-time":[101],"adjustments":[102],"SRL":[104,146],"assistance":[105],"adaptive":[107],"with":[109],"users.":[110],"Practical":[111],"experiments":[112],"involving":[113],"both":[114],"healthy":[115],"participants":[116],"hemiparetic":[118,149],"patients":[119],"validate":[120,128],"algorithm\u2019s":[122],"effectiveness":[123],"during":[124],"STS.":[125],"results":[127],"substantial":[129],"reductions":[130],"time":[133],"(39.54%)":[134],"muscle":[136],"(28.01%),":[138],"highlighting":[139],"efficacy":[141],"algorithm-controlled":[145],"support":[147],"individuals.":[150]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}