{"id":"https://openalex.org/W2944373859","doi":"https://doi.org/10.1109/tie.2019.2914573","title":"Human-Cooperative Control of a Wearable Walking Exoskeleton for Enhancing Climbing Stair Activities","display_name":"Human-Cooperative Control of a Wearable Walking Exoskeleton for Enhancing Climbing Stair Activities","publication_year":2019,"publication_date":"2019-05-08","ids":{"openalex":"https://openalex.org/W2944373859","doi":"https://doi.org/10.1109/tie.2019.2914573","mag":"2944373859"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2019.2914573","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2019.2914573","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","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/A5100450024","display_name":"Zhijun Li","orcid":"https://orcid.org/0000-0002-3909-488X"},"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":true,"raw_author_name":"Zhijun Li","raw_affiliation_strings":["Department of Automation, University of Science and Technology of China, Hefei, China"],"raw_orcid":"https://orcid.org/0000-0002-3909-488X","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/A5015416399","display_name":"Chuanjie Deng","orcid":"https://orcid.org/0000-0002-2223-1796"},"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":"Chuanjie Deng","raw_affiliation_strings":["College of Automation Science and Engineering, South China University of Technology, Guangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-2223-1796","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":"last","author":{"id":"https://openalex.org/A5100976089","display_name":"Kuankuan Zhao","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":"Kuankuan Zhao","raw_affiliation_strings":["Department of Automation, University of Science and Technology of China, Hefei, China"],"raw_orcid":null,"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":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100450024"],"corresponding_institution_ids":["https://openalex.org/I126520041"],"apc_list":null,"apc_paid":null,"fwci":4.2867,"has_fulltext":false,"cited_by_count":83,"citation_normalized_percentile":{"value":0.94876837,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"67","issue":"4","first_page":"3086","last_page":"3095"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9975000023841858,"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":0.9958000183105469,"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":0.6904094815254211},{"id":"https://openalex.org/keywords/stair-climbing","display_name":"Stair climbing","score":0.6259928941726685},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5843983292579651},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5316662788391113},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5056054592132568},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4872538149356842},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4840511679649353},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.47623470425605774},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.46267789602279663},{"id":"https://openalex.org/keywords/sagittal-plane","display_name":"Sagittal plane","score":0.46246784925460815},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.46012282371520996},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4391912817955017},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4244576692581177},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.376542329788208},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.32497429847717285},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2733691930770874},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16459724307060242},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.09931865334510803},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08641737699508667}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.6904094815254211},{"id":"https://openalex.org/C2776319952","wikidata":"https://www.wikidata.org/wiki/Q2451755","display_name":"Stair climbing","level":2,"score":0.6259928941726685},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5843983292579651},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5316662788391113},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5056054592132568},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4872538149356842},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4840511679649353},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.47623470425605774},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.46267789602279663},{"id":"https://openalex.org/C178910020","wikidata":"https://www.wikidata.org/wiki/Q2211994","display_name":"Sagittal plane","level":2,"score":0.46246784925460815},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.46012282371520996},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4391912817955017},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4244576692581177},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.376542329788208},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.32497429847717285},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2733691930770874},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16459724307060242},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.09931865334510803},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08641737699508667},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","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},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2019.2914573","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2019.2914573","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.7300000190734863,"display_name":"Affordable and clean energy"}],"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"},{"id":"https://openalex.org/G6705648038","display_name":null,"funder_award_id":"2017YFB1302302","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"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/W1975987482","https://openalex.org/W1976199972","https://openalex.org/W2014145468","https://openalex.org/W2052498786","https://openalex.org/W2062363643","https://openalex.org/W2065942939","https://openalex.org/W2072395926","https://openalex.org/W2097568396","https://openalex.org/W2102159351","https://openalex.org/W2149233598","https://openalex.org/W2149458524","https://openalex.org/W2157059780","https://openalex.org/W2157141274","https://openalex.org/W2163668399","https://openalex.org/W2165482348","https://openalex.org/W2166300660","https://openalex.org/W2295033670","https://openalex.org/W2417845770","https://openalex.org/W2489215700","https://openalex.org/W2520948032","https://openalex.org/W2535478165","https://openalex.org/W2541121566","https://openalex.org/W2562291800","https://openalex.org/W2583278904","https://openalex.org/W2605924076","https://openalex.org/W2753943679","https://openalex.org/W2767704770","https://openalex.org/W2768081917","https://openalex.org/W2770394012","https://openalex.org/W2771000883","https://openalex.org/W2795105096","https://openalex.org/W2909784077","https://openalex.org/W3101306775","https://openalex.org/W4256491155"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2329043542","https://openalex.org/W2109948066","https://openalex.org/W2891557698","https://openalex.org/W2047840219","https://openalex.org/W3206743814","https://openalex.org/W2048576502"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"a":[3,13,18,23,105,110,115,132,142],"human-cooperative":[4],"control":[5,181],"strategy":[6],"is":[7,37,61,154],"proposed":[8],"for":[9,26],"locomotion":[10],"assistance":[11,112],"along":[12],"physiologically":[14],"meaningful":[15],"path":[16],"through":[17,114],"wearable":[19],"walking":[20,33],"exoskeleton.":[21],"First,":[22],"kinematics":[24],"model":[25,74],"climbing":[27,99],"stairs":[28,100],"with":[29],"the":[30,40,43,58,82,86,90,95,123,136,146,177,180],"step":[31],"length,":[32],"speed,":[34],"and":[35,53,68,89,109,148,161,173],"direction":[36],"developed.":[38],"Then,":[39,94],"trajectory":[41],"of":[42,45,57,85,98,125,179],"center":[44],"gravity":[46],"(CoG)":[47],"in":[48,79],"both":[49],"sagittal":[50],"plane":[51,55],"(SP)":[52],"coronal":[54],"(CP)":[56],"human-robot":[59],"system":[60],"designed":[62,117,155],"using":[63],"virtual":[64,87],"slope":[65,88],"method":[66],"(VSM)":[67],"dual":[69],"length":[70],"linear":[71],"inverted":[72],"pendulum":[73],"(DLLIPM),":[75],"which":[76],"are":[77],"generated":[78],"parallel":[80],"to":[81,156],"gradient":[83],"vector":[84],"horizontal":[91],"plane,":[92],"respectively.":[93],"task":[96],"workspace":[97],"can":[101,128],"be":[102,129],"divided":[103],"into":[104],"human":[106,147,168],"domination":[107],"region":[108,113,134],"robot":[111,149,159],"novel":[116],"barrier":[118],"energy":[119],"function,":[120],"such":[121],"that":[122],"motion":[124,160],"human's":[126,162],"legs":[127],"constrained":[130],"within":[131],"compliant":[133],"around":[135],"desired":[137],"trajectories.":[138],"Moreover,":[139],"based":[140],"on":[141],"smooth":[143],"transition":[144],"between":[145],"regions,":[150],"an":[151],"adaptive":[152],"controller":[153],"simultaneously":[157],"incorporate":[158],"capabilities.":[163],"Actual":[164],"experiments":[165],"involving":[166],"several":[167],"subjects":[169],"have":[170],"been":[171],"conducted":[172],"its":[174],"results":[175],"demonstrate":[176],"performance":[178],"strategy.":[182]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":30},{"year":2022,"cited_by_count":21},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":12},{"year":2019,"cited_by_count":3}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}