{"id":"https://openalex.org/W4414499328","doi":"https://doi.org/10.1109/tcst.2025.3610977","title":"Period Motion Tracking of Lower Limb Exoskeleton: A New Time-Independent Control Approach","display_name":"Period Motion Tracking of Lower Limb Exoskeleton: A New Time-Independent Control Approach","publication_year":2025,"publication_date":"2025-09-25","ids":{"openalex":"https://openalex.org/W4414499328","doi":"https://doi.org/10.1109/tcst.2025.3610977"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2025.3610977","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2025.3610977","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"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 Control Systems Technology","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":"Jiajun Zhang","orcid":"https://orcid.org/0000-0001-6104-1058"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jiajun Zhang","raw_affiliation_strings":["School of Aerospace Engineering and Applied Mechanics, Tongji University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0001-6104-1058","affiliations":[{"raw_affiliation_string":"School of Aerospace Engineering and Applied Mechanics, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101539552","display_name":"Zhang Shu","orcid":"https://orcid.org/0000-0002-6741-1299"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shu Zhang","raw_affiliation_strings":["School of Aerospace Engineering and Applied Mechanics, Tongji University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-6741-1299","affiliations":[{"raw_affiliation_string":"School of Aerospace Engineering and Applied Mechanics, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100743369","display_name":"Jian Xu","orcid":"https://orcid.org/0000-0002-3521-6843"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Xu","raw_affiliation_strings":["School of Aerospace Engineering and Applied Mechanics, Tongji University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-3521-6843","affiliations":[{"raw_affiliation_string":"School of Aerospace Engineering and Applied Mechanics, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I116953780"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.23799122,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"34","issue":"1","first_page":"170","last_page":"185"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.989799976348877,"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":0.989799976348877,"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":0.9851999878883362,"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/T11030","display_name":"Scoliosis diagnosis and treatment","score":0.9430000185966492,"subfield":{"id":"https://openalex.org/subfields/2746","display_name":"Surgery"},"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":0.7358999848365784},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7293999791145325},{"id":"https://openalex.org/keywords/limit","display_name":"Limit (mathematics)","score":0.6069999933242798},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5946999788284302},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5734000205993652},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.46869999170303345},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.43299999833106995},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4088999927043915},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.39899998903274536}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.7358999848365784},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7293999791145325},{"id":"https://openalex.org/C151201525","wikidata":"https://www.wikidata.org/wiki/Q177239","display_name":"Limit (mathematics)","level":2,"score":0.6069999933242798},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5946999788284302},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5734000205993652},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5084999799728394},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.46869999170303345},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.43299999833106995},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4088999927043915},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.39899998903274536},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.37630000710487366},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3628999888896942},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.35280001163482666},{"id":"https://openalex.org/C2780992000","wikidata":"https://www.wikidata.org/wiki/Q17016113","display_name":"Generator (circuit theory)","level":3,"score":0.3490000069141388},{"id":"https://openalex.org/C151346624","wikidata":"https://www.wikidata.org/wiki/Q5276129","display_name":"Digital pattern generator","level":3,"score":0.3391999900341034},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.33820000290870667},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.33640000224113464},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.329800009727478},{"id":"https://openalex.org/C44280652","wikidata":"https://www.wikidata.org/wiki/Q104837","display_name":"Phase (matter)","level":2,"score":0.32659998536109924},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.31839999556541443},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31769999861717224},{"id":"https://openalex.org/C2989316616","wikidata":"https://www.wikidata.org/wiki/Q6027402","display_name":"Lower limb","level":2,"score":0.30399999022483826},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3037000000476837},{"id":"https://openalex.org/C98644592","wikidata":"https://www.wikidata.org/wiki/Q184743","display_name":"Periodic function","level":2,"score":0.29679998755455017},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.2824000120162964},{"id":"https://openalex.org/C93357160","wikidata":"https://www.wikidata.org/wiki/Q1545916","display_name":"Limit cycle","level":3,"score":0.2768000066280365},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.2718999981880188},{"id":"https://openalex.org/C169453685","wikidata":"https://www.wikidata.org/wiki/Q1054066","display_name":"Central pattern generator","level":3,"score":0.26750001311302185},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.26669999957084656}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tcst.2025.3610977","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2025.3610977","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"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 Control Systems Technology","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3249917913","display_name":null,"funder_award_id":"12472022","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3337689321","display_name":null,"funder_award_id":"12532002","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3693679321","display_name":null,"funder_award_id":"11932015","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5377777950","display_name":null,"funder_award_id":"12072237","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5967040884","display_name":null,"funder_award_id":"22120220590","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"}],"funders":[{"id":"https://openalex.org/F4320309617","display_name":"National Foundation for Science and Technology Development","ror":"https://ror.org/04rw64z44"},{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W1996907893","https://openalex.org/W2092963446","https://openalex.org/W2097384366","https://openalex.org/W2138300314","https://openalex.org/W2147582248","https://openalex.org/W2326141327","https://openalex.org/W2491914895","https://openalex.org/W2537096292","https://openalex.org/W2566420655","https://openalex.org/W2883972132","https://openalex.org/W2898165914","https://openalex.org/W2906282529","https://openalex.org/W2908753923","https://openalex.org/W2921821198","https://openalex.org/W2941441452","https://openalex.org/W2944565967","https://openalex.org/W2962934728","https://openalex.org/W3007437250","https://openalex.org/W3018775200","https://openalex.org/W3020990750","https://openalex.org/W3045492637","https://openalex.org/W3095018481","https://openalex.org/W3127194649","https://openalex.org/W3176726022","https://openalex.org/W3183678616","https://openalex.org/W3188247468","https://openalex.org/W4210466049","https://openalex.org/W4214744891","https://openalex.org/W4229061265","https://openalex.org/W4281964486","https://openalex.org/W4285120638","https://openalex.org/W4286360729","https://openalex.org/W4293103709","https://openalex.org/W4298088283","https://openalex.org/W4309323738","https://openalex.org/W4312944902","https://openalex.org/W4321352025","https://openalex.org/W4321607911","https://openalex.org/W4327663266","https://openalex.org/W4385455461","https://openalex.org/W4386174146","https://openalex.org/W4388742365","https://openalex.org/W4396594872","https://openalex.org/W4401113353"],"related_works":[],"abstract_inverted_index":{"This":[0,64],"article":[1,65],"introduces":[2],"the":[3,31,36,40,47,54,59,67,74,80,94,119,131,134,155,160],"planar":[4],"vector":[5],"field":[6],"generator":[7],"(PVFG)":[8],"for":[9,79],"a":[10,86],"lower":[11,81,163],"limb":[12,82,164],"exoskeleton":[13,83],"to":[14,149],"achieve":[15],"stable":[16],"and":[17,52,72,147],"adaptive":[18],"periodic":[19,56,152],"motion.":[20],"Unlike":[21],"traditional":[22],"methods,":[23],"which":[24,137],"often":[25],"rely":[26],"on":[27,118,125],"predefined":[28],"gait":[29],"trajectories,":[30],"PVFG-based":[32,75],"control":[33,48,106,161],"method":[34,107],"leverages":[35],"natural":[37],"dynamics":[38],"of":[39,61,70,93,128,133,157,162],"system":[41],"in":[42,58,144,159],"its":[43],"phase":[44,88,141],"space,":[45],"decouples":[46],"from":[49],"temporal":[50],"constraints,":[51],"tracks":[53],"target":[55,120,151],"motion":[57],"form":[60],"limit":[62,111,121],"cycles.":[63,122],"presents":[66],"theoretical":[68],"framework":[69],"PVFG,":[71],"proposes":[73],"time-independent":[76],"controller":[77,96],"(PVFG-TIC)":[78],"by":[84,114],"integrating":[85],"master\u2013slave":[87],"coordination":[89],"strategy.":[90],"The":[91,104],"stability":[92,102,143],"proposed":[95,105,135],"is":[97],"proved":[98],"through":[99],"extended":[100],"Lyapunov":[101],"theory.":[103],"improves":[108],"upon":[109],"existing":[110],"cycle-based":[112],"approaches":[113],"imposing":[115],"fewer":[116],"constraints":[117],"Experimental":[123],"results":[124],"different":[126],"types":[127],"exoskeletons":[129],"validate":[130],"effectiveness":[132],"controller,":[136],"offers":[138],"time":[139],"independence,":[140],"coordination,":[142],"wide":[145],"range,":[146],"adaptability":[148],"switching":[150],"motion,":[153],"highlighting":[154],"potential":[156],"PVFG":[158],"exoskeleton.":[165]},"counts_by_year":[],"updated_date":"2026-01-10T23:39:48.068659","created_date":"2025-10-10T00:00:00"}
