{"id":"https://openalex.org/W3000976187","doi":"https://doi.org/10.1109/tcds.2020.2968845","title":"Exoskeleton Online Learning and Estimation of Human Walking Intention Based on Dynamical Movement Primitives","display_name":"Exoskeleton Online Learning and Estimation of Human Walking Intention Based on Dynamical Movement Primitives","publication_year":2020,"publication_date":"2020-01-23","ids":{"openalex":"https://openalex.org/W3000976187","doi":"https://doi.org/10.1109/tcds.2020.2968845","mag":"3000976187"},"language":"en","primary_location":{"id":"doi:10.1109/tcds.2020.2968845","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcds.2020.2968845","pdf_url":null,"source":{"id":"https://openalex.org/S2488537894","display_name":"IEEE Transactions on Cognitive and Developmental Systems","issn_l":"2379-8920","issn":["2379-8920","2379-8939"],"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 Cognitive and Developmental Systems","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/A5082214676","display_name":"Shiyin Qiu","orcid":"https://orcid.org/0000-0002-7098-0310"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Shiyin Qiu","raw_affiliation_strings":["School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101729383","display_name":"Wei Guo","orcid":"https://orcid.org/0000-0002-8461-8902"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Guo","raw_affiliation_strings":["School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044243940","display_name":"Darwin G. Caldwell","orcid":"https://orcid.org/0000-0002-6233-9961"},"institutions":[{"id":"https://openalex.org/I4210159500","display_name":"Shenzhen Academy of Aerospace Technology","ror":"https://ror.org/05etzsm06","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210159500"]},{"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":["CN","IT"],"is_corresponding":false,"raw_author_name":"Darwin Caldwell","raw_affiliation_strings":["Istituto Italiano di Tecnologia, Genoa, Italy","Shenzhen Academy of Aerospace Technology, Robotics Institute, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Shenzhen Academy of Aerospace Technology, Robotics Institute, Shenzhen, China","institution_ids":["https://openalex.org/I4210159500"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100405442","display_name":"Fei Chen","orcid":"https://orcid.org/0000-0003-4397-0931"},"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"]},{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN","IT"],"is_corresponding":false,"raw_author_name":"Fei Chen","raw_affiliation_strings":["Active Perception and Robot Interactive Learning Laboratory, Istituto Italiano di Tecnologia, Genoa, Italy","School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"Active Perception and Robot Interactive Learning Laboratory, Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5082214676"],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":3.3475,"has_fulltext":false,"cited_by_count":64,"citation_normalized_percentile":{"value":0.92682254,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"13","issue":"1","first_page":"67","last_page":"79"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9969000220298767,"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":0.9912999868392944,"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/exoskeleton","display_name":"Exoskeleton","score":0.8901180028915405},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7273221015930176},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7079569101333618},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.7013528347015381},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.5979830026626587},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.5440979599952698},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.493420273065567},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.43737146258354187},{"id":"https://openalex.org/keywords/motion-capture","display_name":"Motion capture","score":0.41676002740859985},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3631751835346222},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.3625776767730713},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.35298439860343933},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3379909098148346},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2662179172039032},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1716964840888977}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.8901180028915405},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7273221015930176},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7079569101333618},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.7013528347015381},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.5979830026626587},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.5440979599952698},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.493420273065567},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43737146258354187},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.41676002740859985},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3631751835346222},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.3625776767730713},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35298439860343933},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3379909098148346},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2662179172039032},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1716964840888977},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C170154142","wikidata":"https://www.wikidata.org/wiki/Q150737","display_name":"Architectural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tcds.2020.2968845","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcds.2020.2968845","pdf_url":null,"source":{"id":"https://openalex.org/S2488537894","display_name":"IEEE Transactions on Cognitive and Developmental Systems","issn_l":"2379-8920","issn":["2379-8920","2379-8939"],"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 Cognitive and Developmental Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4300000071525574,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[{"id":"https://openalex.org/G3871414424","display_name":null,"funder_award_id":"61773139","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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":55,"referenced_works":["https://openalex.org/W130216483","https://openalex.org/W1559393815","https://openalex.org/W1560270123","https://openalex.org/W1580648284","https://openalex.org/W1837533429","https://openalex.org/W1977886606","https://openalex.org/W1997861712","https://openalex.org/W2001757193","https://openalex.org/W2005517233","https://openalex.org/W2005758226","https://openalex.org/W2038609344","https://openalex.org/W2042105519","https://openalex.org/W2054857883","https://openalex.org/W2062363643","https://openalex.org/W2073801600","https://openalex.org/W2089826029","https://openalex.org/W2090271630","https://openalex.org/W2102159351","https://openalex.org/W2109034196","https://openalex.org/W2113698995","https://openalex.org/W2116951991","https://openalex.org/W2128677288","https://openalex.org/W2130281033","https://openalex.org/W2136719407","https://openalex.org/W2141501778","https://openalex.org/W2142114107","https://openalex.org/W2146117110","https://openalex.org/W2152353757","https://openalex.org/W2154037495","https://openalex.org/W2156174987","https://openalex.org/W2157780858","https://openalex.org/W2167804690","https://openalex.org/W2171323125","https://openalex.org/W2289112630","https://openalex.org/W2342546531","https://openalex.org/W2414517470","https://openalex.org/W2535317954","https://openalex.org/W2539534359","https://openalex.org/W2594538880","https://openalex.org/W2700163520","https://openalex.org/W2734866036","https://openalex.org/W2770778261","https://openalex.org/W2781999526","https://openalex.org/W2789738248","https://openalex.org/W2791542133","https://openalex.org/W2797679738","https://openalex.org/W2810908822","https://openalex.org/W2890657955","https://openalex.org/W2908949019","https://openalex.org/W2918238791","https://openalex.org/W2942510244","https://openalex.org/W2948851781","https://openalex.org/W2954973371","https://openalex.org/W2973168250","https://openalex.org/W4211003818"],"related_works":["https://openalex.org/W2901258812","https://openalex.org/W2887985348","https://openalex.org/W2401700601","https://openalex.org/W2570835373","https://openalex.org/W3198063775","https://openalex.org/W3017269254","https://openalex.org/W2475107902","https://openalex.org/W3205655234","https://openalex.org/W2909939948","https://openalex.org/W2906683640"],"abstract_inverted_index":{"Human":[0],"walking":[1,36,44,49,67,145,188],"intention":[2,37,50,68],"estimation":[3],"is":[4,24,38,69,101,108,117,128,183],"a":[5,81,156],"critical":[6],"step":[7],"for":[8,119,185],"the":[9,18,39,47,57,111,131,137,149,171,180,186],"active":[10,21,187],"assistance":[11,22,27,189],"control":[12,23,190],"of":[13,20,42,94,143,191],"lower":[14],"limb":[15],"exoskeleton,":[16],"because":[17],"purpose":[19],"human":[25,30,35,43,48,62,66,72,84,95,124,132,138,144,158],"motion":[26,31],"rather":[28],"than":[29],"tracking.":[32],"Complying":[33],"with":[34],"basic":[40],"requirement":[41],"assistance.":[45],"Hence,":[46,179],"must":[51],"be":[52],"estimated":[53],"first":[54],"to":[55,70,79,135],"ensure":[56],"exoskeleton":[58],"will":[59],"not":[60,153],"impede":[61],"motion.":[63],"Actually,":[64],"estimating":[65],"estimate":[71,80,136],"joint":[73,85,96,99,125,139,159,162],"torque":[74,86,100,163],"during":[75],"walking.":[76],"In":[77],"order":[78],"smooth":[82,157],"personalized":[83],"profile,":[87],"an":[88],"online":[89,120],"learning":[90,121],"and":[91,98,122,161],"prediction":[92],"algorithm":[93,107,151,182],"trajectory":[97,126,160],"proposed":[102,150,181],"in":[103,165],"this":[104],"article.":[105],"The":[106,141],"based":[109],"on":[110],"dynamical":[112],"movement":[113],"primitives":[114],"model":[115,134],"which":[116,127],"used":[118],"predicting":[123],"substituted":[129],"into":[130],"dynamics":[133],"torque.":[140],"results":[142],"experiments":[146],"demonstrate":[147],"that":[148],"can":[152],"only":[154],"predict":[155],"profile":[164],"real":[166],"time":[167],"but":[168],"also":[169],"compensate":[170],"phase":[172],"delay":[173],"caused":[174],"by":[175],"sensor":[176],"signal":[177],"filtering.":[178],"suitable":[184],"exoskeleton.":[192]},"counts_by_year":[{"year":2025,"cited_by_count":12},{"year":2024,"cited_by_count":13},{"year":2023,"cited_by_count":13},{"year":2022,"cited_by_count":18},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}