{"id":"https://openalex.org/W2888838050","doi":"https://doi.org/10.1109/tcyb.2018.2864784","title":"A Learning-Based Hierarchical Control Scheme for an Exoskeleton Robot in Human\u2013Robot Cooperative Manipulation","display_name":"A Learning-Based Hierarchical Control Scheme for an Exoskeleton Robot in Human\u2013Robot Cooperative Manipulation","publication_year":2018,"publication_date":"2018-08-31","ids":{"openalex":"https://openalex.org/W2888838050","doi":"https://doi.org/10.1109/tcyb.2018.2864784","mag":"2888838050"},"language":"en","primary_location":{"id":"doi:10.1109/tcyb.2018.2864784","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcyb.2018.2864784","pdf_url":null,"source":{"id":"https://openalex.org/S4210191041","display_name":"IEEE Transactions on Cybernetics","issn_l":"2168-2267","issn":["2168-2267","2168-2275"],"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 Cybernetics","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/A5022532590","display_name":"Mingdi Deng","orcid":"https://orcid.org/0000-0003-2629-0096"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Mingdi Deng","raw_affiliation_strings":["College of Automation Science and Engineering, South China University of Technology, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"College of Automation Science and Engineering, South China University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100450024","display_name":"Zhijun Li","orcid":"https://orcid.org/0000-0002-3909-488X"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhijun Li","raw_affiliation_strings":["College of Automation Science and Engineering, South China University of Technology, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"College of Automation Science and Engineering, South China University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025987638","display_name":"Yu Kang","orcid":"https://orcid.org/0000-0002-8706-3252"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Kang","raw_affiliation_strings":["Department of Automation, University of Science and Technology of China, Hefei, China"],"affiliations":[{"raw_affiliation_string":"Department of Automation, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100643265","display_name":"C. L. Philip Chen","orcid":"https://orcid.org/0000-0001-5451-7230"},"institutions":[{"id":"https://openalex.org/I204512498","display_name":"University of Macau","ror":"https://ror.org/01r4q9n85","country_code":"MO","type":"education","lineage":["https://openalex.org/I204512498"]}],"countries":["MO"],"is_corresponding":false,"raw_author_name":"C. L. Philip Chen","raw_affiliation_strings":["Faculty of Science and Technology, University of Macau, Macau, China"],"affiliations":[{"raw_affiliation_string":"Faculty of Science and Technology, University of Macau, Macau, China","institution_ids":["https://openalex.org/I204512498"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069850104","display_name":"Xiaoli Chu","orcid":null},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoli Chu","raw_affiliation_strings":["Department of Automation, University of Science and Technology of China, Hefei, China"],"affiliations":[{"raw_affiliation_string":"Department of Automation, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5022532590"],"corresponding_institution_ids":["https://openalex.org/I90610280"],"apc_list":null,"apc_paid":null,"fwci":4.1082,"has_fulltext":false,"cited_by_count":109,"citation_normalized_percentile":{"value":0.94602893,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"50","issue":"1","first_page":"112","last_page":"125"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9991000294685364,"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":0.9991000294685364,"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":0.9965000152587891,"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":0.9926999807357788,"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/robot","display_name":"Robot","score":0.649675190448761},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6155063509941101},{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.6109606623649597},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5231579542160034},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5136775374412537},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.4862886369228363},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4806472361087799},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.37184959650039673},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.37071895599365234},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3558822274208069},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.336697518825531},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3322230577468872},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.31722381711006165},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.07143691182136536}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.649675190448761},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6155063509941101},{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.6109606623649597},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5231579542160034},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5136775374412537},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.4862886369228363},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4806472361087799},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.37184959650039673},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.37071895599365234},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3558822274208069},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.336697518825531},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3322230577468872},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.31722381711006165},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.07143691182136536},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tcyb.2018.2864784","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcyb.2018.2864784","pdf_url":null,"source":{"id":"https://openalex.org/S4210191041","display_name":"IEEE Transactions on Cybernetics","issn_l":"2168-2267","issn":["2168-2267","2168-2275"],"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 Cybernetics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3366262748","display_name":null,"funder_award_id":"61573147","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3515097778","display_name":null,"funder_award_id":"61625303","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5133900675","display_name":null,"funder_award_id":"61751310","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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":57,"referenced_works":["https://openalex.org/W1480220726","https://openalex.org/W1682895868","https://openalex.org/W1977013839","https://openalex.org/W1986014385","https://openalex.org/W1986024064","https://openalex.org/W1992171281","https://openalex.org/W1997610562","https://openalex.org/W2001709653","https://openalex.org/W2014145468","https://openalex.org/W2021756757","https://openalex.org/W2023172481","https://openalex.org/W2032277247","https://openalex.org/W2034214945","https://openalex.org/W2049633694","https://openalex.org/W2056996905","https://openalex.org/W2062373349","https://openalex.org/W2074809255","https://openalex.org/W2076024315","https://openalex.org/W2079025554","https://openalex.org/W2091914309","https://openalex.org/W2102393714","https://openalex.org/W2109151516","https://openalex.org/W2113698995","https://openalex.org/W2115123877","https://openalex.org/W2122447324","https://openalex.org/W2122692325","https://openalex.org/W2124815790","https://openalex.org/W2127891267","https://openalex.org/W2130301822","https://openalex.org/W2135270981","https://openalex.org/W2136719407","https://openalex.org/W2139595765","https://openalex.org/W2140546948","https://openalex.org/W2141068999","https://openalex.org/W2142572589","https://openalex.org/W2165575781","https://openalex.org/W2168162876","https://openalex.org/W2200632918","https://openalex.org/W2210365848","https://openalex.org/W2322447463","https://openalex.org/W2372306012","https://openalex.org/W2549092026","https://openalex.org/W2561515991","https://openalex.org/W2565780995","https://openalex.org/W2584548138","https://openalex.org/W2588114174","https://openalex.org/W2609675074","https://openalex.org/W2738231311","https://openalex.org/W2767704770","https://openalex.org/W2795670632","https://openalex.org/W2962848549","https://openalex.org/W3105474110","https://openalex.org/W6628564860","https://openalex.org/W6637373105","https://openalex.org/W6664503939","https://openalex.org/W6678616629","https://openalex.org/W6726654943"],"related_works":["https://openalex.org/W2762381663","https://openalex.org/W1886477626","https://openalex.org/W4385196987","https://openalex.org/W1540467731","https://openalex.org/W218732962","https://openalex.org/W2538037439","https://openalex.org/W4317826762","https://openalex.org/W2741909783","https://openalex.org/W1979383880","https://openalex.org/W3110580084"],"abstract_inverted_index":{"Exoskeleton":[0],"robots":[1],"can":[2,128,178],"assist":[3],"humans":[4],"to":[5,28,66,70,76,142,156],"perform":[6],"activities":[7],"of":[8,38,44,97,146,168],"daily":[9],"living":[10],"with":[11,32,54,132,182],"little":[12],"effort.":[13],"In":[14,41,74],"this":[15],"paper,":[16],"a":[17,80,113,116],"hierarchical":[18],"control":[19,35,43,52,176],"scheme":[20,36,53,177],"is":[21,64,88],"presented":[22],"which":[23,95],"enables":[24],"an":[25,50,55],"exoskeleton":[26,48],"robot":[27,69,108,127,148],"achieve":[29,77],"cooperative":[30,187],"manipulation":[31],"humans.":[33],"The":[34],"consists":[37,96],"two":[39,169],"layers.":[40],"lowlevel":[42],"the":[45,68,98,104,107,123,126,130,144,147,159,174],"upper":[46],"limb":[47],"robot,":[49],"admittance":[51],"asymmetric":[56],"barrier":[57],"Lyapunov":[58],"function-based":[59],"adaptive":[60],"neural":[61],"network":[62],"controller":[63],"proposed":[65,89,175],"enable":[67],"be":[71],"back":[72],"drivable.":[73],"order":[75],"high-level":[78],"interaction,":[79],"strategy":[81],"for":[82],"learning":[83,99,105],"human":[84,138,180],"skills":[85,139],"from":[86,140,152],"demonstration":[87],"by":[90,136,163],"utilizing":[91],"Gaussian":[92],"mixture":[93],"models,":[94],"and":[100,110,121],"reproduction":[101,124],"phase.":[102],"During":[103],"phase,":[106,125],"observes":[109],"learns":[111],"how":[112],"demonstrator":[114],"performs":[115],"specific":[117],"impedance-based":[118],"task":[119],"successfully,":[120],"in":[122,158],"provide":[129,179],"subjects":[131,181],"just":[133],"enough":[134],"assistance":[135,183],"extracting":[137],"demonstrations":[141],"prevent":[143],"motion":[145],"end-effector":[149],"deviating":[150],"far":[151],"desired":[153],"ones,":[154],"due":[155],"variation":[157],"interaction":[160],"force":[161],"caused":[162],"environmental":[164],"disturbances.":[165],"Experimental":[166],"results":[167],"different":[170],"tasks":[171],"show":[172],"that":[173],"as":[184],"needed":[185],"during":[186],"manipulation.":[188]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":18},{"year":2024,"cited_by_count":16},{"year":2023,"cited_by_count":17},{"year":2022,"cited_by_count":20},{"year":2021,"cited_by_count":23},{"year":2020,"cited_by_count":11},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2018-09-07T00:00:00"}
