{"id":"https://openalex.org/W7106037975","doi":"https://doi.org/10.1109/tase.2025.3634838","title":"Muscle Fatigue-Aware Controller for a Semi-Rigid Knee Exoskeleton","display_name":"Muscle Fatigue-Aware Controller for a Semi-Rigid Knee Exoskeleton","publication_year":2025,"publication_date":"2025-11-19","ids":{"openalex":"https://openalex.org/W7106037975","doi":"https://doi.org/10.1109/tase.2025.3634838"},"language":null,"primary_location":{"id":"doi:10.1109/tase.2025.3634838","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3634838","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":null,"display_name":"Yifang Zhang","orcid":"https://orcid.org/0000-0003-4539-8692"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Yifang Zhang","raw_affiliation_strings":["Humanoids and Human Centered Mechatronics (HHCM) Research Line, Istituto Italiano Di Tecnologia (IIT), Genoa, Italy"],"raw_orcid":"https://orcid.org/0000-0003-4539-8692","affiliations":[{"raw_affiliation_string":"Humanoids and Human Centered Mechatronics (HHCM) Research Line, Istituto Italiano Di Tecnologia (IIT), Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Jingcheng Jiang","orcid":"https://orcid.org/0009-0005-3801-5333"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Jingcheng Jiang","raw_affiliation_strings":["Humanoids and Human Centered Mechatronics (HHCM) Research Line, Istituto Italiano Di Tecnologia (IIT), Genoa, Italy"],"raw_orcid":"https://orcid.org/0009-0005-3801-5333","affiliations":[{"raw_affiliation_string":"Humanoids and Human Centered Mechatronics (HHCM) Research Line, Istituto Italiano Di Tecnologia (IIT), Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Arash Ajoudani","orcid":"https://orcid.org/0000-0002-1261-737X"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Arash Ajoudani","raw_affiliation_strings":["Human-Robot Interfaces and Interaction (HRI2) Research Line, Istituto Italiano Di Tecnologia (IIT), Genoa, Italy"],"raw_orcid":"https://orcid.org/0000-0002-1261-737X","affiliations":[{"raw_affiliation_string":"Human-Robot Interfaces and Interaction (HRI2) Research Line, Istituto Italiano Di Tecnologia (IIT), Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":null,"display_name":"Nikos G. Tsagarakis","orcid":"https://orcid.org/0000-0002-9877-8237"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Nikos G. Tsagarakis","raw_affiliation_strings":["Humanoids and Human Centered Mechatronics (HHCM) Research Line, Istituto Italiano Di Tecnologia (IIT), Genoa, Italy"],"raw_orcid":"https://orcid.org/0000-0002-9877-8237","affiliations":[{"raw_affiliation_string":"Humanoids and Human Centered Mechatronics (HHCM) Research Line, Istituto Italiano Di Tecnologia (IIT), Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.41710802,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"23","issue":null,"first_page":"44","last_page":"58"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.8385999798774719,"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":0.8385999798774719,"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":0.10520000010728836,"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":0.013199999928474426,"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/muscle-fatigue","display_name":"Muscle fatigue","score":0.7080000042915344},{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.6793000102043152},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6315000057220459},{"id":"https://openalex.org/keywords/wearable-computer","display_name":"Wearable computer","score":0.5615000128746033},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5217999815940857},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4896000027656555},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4821000099182129},{"id":"https://openalex.org/keywords/moment","display_name":"Moment (physics)","score":0.4496000111103058}],"concepts":[{"id":"https://openalex.org/C2776874296","wikidata":"https://www.wikidata.org/wiki/Q6940317","display_name":"Muscle fatigue","level":3,"score":0.7080000042915344},{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.6793000102043152},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6315000057220459},{"id":"https://openalex.org/C150594956","wikidata":"https://www.wikidata.org/wiki/Q1334829","display_name":"Wearable computer","level":2,"score":0.5615000128746033},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5548999905586243},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5217999815940857},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4896000027656555},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4821000099182129},{"id":"https://openalex.org/C179254644","wikidata":"https://www.wikidata.org/wiki/Q13222844","display_name":"Moment (physics)","level":2,"score":0.4496000111103058},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4041000008583069},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.37959998846054077},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.37720000743865967},{"id":"https://openalex.org/C89805583","wikidata":"https://www.wikidata.org/wiki/Q192940","display_name":"Accelerometer","level":2,"score":0.373199999332428},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.36059999465942383},{"id":"https://openalex.org/C196628372","wikidata":"https://www.wikidata.org/wiki/Q4801090","display_name":"Artificial muscle","level":3,"score":0.3075000047683716},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.30399999022483826},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.30329999327659607},{"id":"https://openalex.org/C2775862927","wikidata":"https://www.wikidata.org/wiki/Q7309766","display_name":"Rehabilitation robotics","level":3,"score":0.290800005197525},{"id":"https://openalex.org/C2777515770","wikidata":"https://www.wikidata.org/wiki/Q507369","display_name":"Electromyography","level":2,"score":0.2867000102996826},{"id":"https://openalex.org/C96332660","wikidata":"https://www.wikidata.org/wiki/Q5610971","display_name":"Ground reaction force","level":3,"score":0.274399995803833},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27219998836517334},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.2703999876976013},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.2653999924659729}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2025.3634838","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3634838","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":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.4991118013858795}],"awards":[{"id":"https://openalex.org/G1521387512","display_name":null,"funder_award_id":"871237","funder_id":"https://openalex.org/F4320337669","funder_display_name":"H2020 European Institute of Innovation and Technology"}],"funders":[{"id":"https://openalex.org/F4320337669","display_name":"H2020 European Institute of Innovation and Technology","ror":"https://ror.org/036dxts37"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1500556521","https://openalex.org/W1626322969","https://openalex.org/W1959271782","https://openalex.org/W1997861712","https://openalex.org/W2004002010","https://openalex.org/W2015398951","https://openalex.org/W2021813480","https://openalex.org/W2048026852","https://openalex.org/W2058070720","https://openalex.org/W2062036029","https://openalex.org/W2084723968","https://openalex.org/W2105370141","https://openalex.org/W2115730616","https://openalex.org/W2127979027","https://openalex.org/W2129931533","https://openalex.org/W2141614436","https://openalex.org/W2143991368","https://openalex.org/W2148624374","https://openalex.org/W2580997098","https://openalex.org/W2766203889","https://openalex.org/W2842089854","https://openalex.org/W2909367414","https://openalex.org/W2916006248","https://openalex.org/W2919625781","https://openalex.org/W3089391911","https://openalex.org/W3189583074","https://openalex.org/W4220949826","https://openalex.org/W4285117961","https://openalex.org/W4389209615","https://openalex.org/W4400123791","https://openalex.org/W4402592523","https://openalex.org/W4405219282"],"related_works":[],"abstract_inverted_index":{"Wearable":[0],"assistive":[1],"devices":[2],"that":[3,175],"monitor":[4],"muscle":[5,33,58,82,107,114,151,197,225],"fatigue":[6,71,115,120,152,181,188,208,226],"reduce":[7,179],"the":[8,23,27,55,64,75,102,113,130,143,180,186,192,206,219,240],"risk":[9],"of":[10,26,211,239],"work-related":[11],"musculoskeletal":[12],"disorders,":[13],"enhance":[14],"rehabilitation":[15],"outcomes,":[16],"and":[17,63,68,89,96,153,191,200,227],"extend":[18],"operational":[19],"time":[20],"by":[21,101],"optimizing":[22],"power":[24,213,230],"consumption":[25],"device.":[28,104],"This":[29],"work":[30],"proposes":[31],"a":[32,38,118,164,236,243],"fatigue-aware":[34],"controller":[35,162,220],"(MFAC)":[36],"for":[37,74,145],"semi-rigid":[39],"knee":[40],"exoskeleton.":[41],"During":[42],"an":[43,160],"offline":[44,131],"calibration":[45],"phase,":[46],"we":[47,157],"use":[48],"Gaussian":[49],"Process":[50],"Regression":[51],"(GPR)":[52],"to":[53,111,178],"model":[54,79],"relationship":[56],"between":[57],"activation":[59,83,108,198],"(measured":[60],"via":[61],"EMG)":[62],"corresponding":[65],"joint":[66,87],"moment":[67,90],"angle,":[69],"enabling":[70,136],"state":[72,116],"estimation":[73,189,199],"controller.":[76],"The":[77,105,168],"trained":[78],"then":[80,158],"approximates":[81],"online":[84,138],"using":[85],"only":[86,127],"states":[88],"derived":[91],"from":[92],"user\u2019s":[93],"kinematic":[94],"data":[95],"ground":[97],"reaction":[98],"forces":[99],"provided":[100],"wearable":[103],"estimated":[106,207],"is":[109,126],"used":[110],"assess":[112],"through":[117],"model-based":[119],"evaluation":[121],"module.":[122],"Notably,":[123],"EMG":[124],"measurement":[125],"required":[128],"during":[129,223],"training":[132],"in":[133,217],"our":[134],"approach,":[135],"EMG-free":[137,187],"estimation,":[139],"which":[140,218],"significantly":[141],"enhances":[142],"feasibility":[144],"long-term":[146],"mobile":[147],"applications.":[148],"Building":[149],"on":[150,205],"human-exoskeleton":[154],"interaction":[155],"models,":[156],"developed":[159],"adaptive":[161,202],"within":[163],"predictive":[165],"control":[166,173],"framework.":[167],"resulting":[169],"optimization":[170],"problem":[171],"generates":[172],"signals":[174],"adjust":[176],"assistance":[177,203],"progression.":[182],"Two":[183],"experiments":[184],"validate":[185],"method":[190],"integrated":[193],"MFAC,":[194],"demonstrating":[195],"accurate":[196],"effective":[201],"based":[204],"state.":[209],"Analysis":[210],"actuator":[212],"output":[214,231],"reveals":[215],"adaptivity":[216],"conserves":[221],"energy":[222],"low":[224],"progressively":[228],"improves":[229],"with":[232,242],"increasing":[233],"fatigue,":[234],"suggesting":[235],"longer":[237],"duration":[238],"device":[241],"fixed":[244],"battery":[245],"capacity.":[246]},"counts_by_year":[],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-11-19T00:00:00"}