{"id":"https://openalex.org/W2970652025","doi":"https://doi.org/10.1109/tie.2019.2937036","title":"Cooperative Manipulation of Wearable Dual-Arm Exoskeletons Using Force Communication Between Partners","display_name":"Cooperative Manipulation of Wearable Dual-Arm Exoskeletons Using Force Communication Between Partners","publication_year":2019,"publication_date":"2019-08-28","ids":{"openalex":"https://openalex.org/W2970652025","doi":"https://doi.org/10.1109/tie.2019.2937036","mag":"2970652025"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2019.2937036","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2019.2937036","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/A5101531740","display_name":"Xiaoyu Wu","orcid":"https://orcid.org/0000-0001-9237-754X"},"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":"Xiaoyu Wu","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":"last","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":false,"raw_author_name":"Zhijun Li","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":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5101531740"],"corresponding_institution_ids":["https://openalex.org/I126520041"],"apc_list":null,"apc_paid":null,"fwci":3.6475,"has_fulltext":false,"cited_by_count":35,"citation_normalized_percentile":{"value":0.92694693,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"67","issue":"8","first_page":"6629","last_page":"6638"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9997000098228455,"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"}},"topics":[{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9997000098228455,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.996399998664856,"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/T10114","display_name":"Balance, Gait, and Falls Prevention","score":0.9943000078201294,"subfield":{"id":"https://openalex.org/subfields/3612","display_name":"Physical Therapy, Sports Therapy and Rehabilitation"},"field":{"id":"https://openalex.org/fields/36","display_name":"Health Professions"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.8477281332015991},{"id":"https://openalex.org/keywords/wearable-computer","display_name":"Wearable computer","score":0.6952981948852539},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6301458477973938},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5896161794662476},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.5596914887428284},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.5013003349304199},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4691924750804901},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.46761950850486755},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.46707940101623535},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4409932494163513},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.435624361038208},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.422426700592041},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.418140172958374},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.41171154379844666},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.313931405544281},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27398109436035156},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2716556787490845},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23407238721847534}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.8477281332015991},{"id":"https://openalex.org/C150594956","wikidata":"https://www.wikidata.org/wiki/Q1334829","display_name":"Wearable computer","level":2,"score":0.6952981948852539},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6301458477973938},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5896161794662476},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.5596914887428284},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.5013003349304199},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4691924750804901},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.46761950850486755},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.46707940101623535},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4409932494163513},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.435624361038208},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.422426700592041},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.418140172958374},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.41171154379844666},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.313931405544281},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27398109436035156},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2716556787490845},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23407238721847534},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.0},{"id":"https://openalex.org/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2019.2937036","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2019.2937036","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":[],"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/G5292942112","display_name":null,"funder_award_id":"17030901029","funder_id":"https://openalex.org/F4320326650","funder_display_name":"Anhui Provincial Department of Science and Technology"},{"id":"https://openalex.org/G8543241900","display_name":null,"funder_award_id":"2018YFC2001600","funder_id":"https://openalex.org/F4320336026","funder_display_name":"National Key Research and Development Program of China Stem Cell and Translational Research"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320326650","display_name":"Anhui Provincial Department of Science and Technology","ror":"https://ror.org/01e70gy59"},{"id":"https://openalex.org/F4320336026","display_name":"National Key Research and Development Program of China Stem Cell and Translational Research","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W223932681","https://openalex.org/W1539002361","https://openalex.org/W1627312423","https://openalex.org/W1967377907","https://openalex.org/W1968334754","https://openalex.org/W1969090956","https://openalex.org/W1969623637","https://openalex.org/W1972194218","https://openalex.org/W1982221577","https://openalex.org/W2003613217","https://openalex.org/W2004342680","https://openalex.org/W2012571009","https://openalex.org/W2042677151","https://openalex.org/W2049321721","https://openalex.org/W2059368191","https://openalex.org/W2066751209","https://openalex.org/W2068663890","https://openalex.org/W2077177611","https://openalex.org/W2086207208","https://openalex.org/W2106445864","https://openalex.org/W2138300314","https://openalex.org/W2140280613","https://openalex.org/W2154382340","https://openalex.org/W2163613809","https://openalex.org/W2164553222","https://openalex.org/W2196056879","https://openalex.org/W2497095191","https://openalex.org/W2756487600","https://openalex.org/W2767704770","https://openalex.org/W4245991817","https://openalex.org/W6723262837"],"related_works":["https://openalex.org/W2901258812","https://openalex.org/W2887985348","https://openalex.org/W2401700601","https://openalex.org/W3017269254","https://openalex.org/W2570835373","https://openalex.org/W2557545276","https://openalex.org/W4387054232","https://openalex.org/W3198063775","https://openalex.org/W1553696796","https://openalex.org/W2753647732"],"abstract_inverted_index":{"In":[0,100],"this":[1],"article,":[2],"physical":[3,28,160],"assistance":[4],"using":[5,81,142],"haptic":[6],"interaction":[7,20],"is":[8,156],"investigated":[9],"to":[10,26,159],"improve":[11],"the":[12,19,27,31,41,46,74,77,89,96,102,107,111,114,124,134,143,157],"motor":[13],"ability":[14],"of":[15,30,37,76,91],"human,":[16],"in":[17,116],"which":[18],"force":[21],"from":[22],"a":[23,117],"partner":[24],"adapts":[25],"behavior":[29],"human":[32,112],"interaction.":[33],"A":[34],"theoretical":[35],"framework":[36],"interactive":[38,129],"tasks,":[39],"including":[40],"\u201cno":[42],"computation\u201d":[43],"model":[44],"and":[45,67,73,95,113,133,150],"\u201cmultisensory":[47],"integration\u201d":[48],"model,":[49],"has":[50,84],"been":[51,71,86],"established":[52],"on":[53,58],"wearable":[54],"dual-arm":[55],"exoskeletons.":[56],"Based":[57],"these":[59,82],"models,":[60],"two":[61],"region-based":[62],"controllers,":[63],"i.e.,":[64],"motion-coupled":[65],"control":[66],"force-coupled":[68],"control,":[69],"have":[70,105],"proposed,":[72],"stability":[75],"closed-loop":[78],"system":[79,92],"by":[80],"controllers":[83,104,145],"also":[85],"analyzed":[87],"under":[88],"consideration":[90],"nonlinearities,":[93],"uncertainties,":[94],"time-varying":[97],"human-robot":[98],"interactions.":[99],"addition,":[101],"proposed":[103,125,144],"reduced":[106],"motion":[108],"conflicts":[109],"between":[110],"robot":[115],"steady":[118],"manner.":[119],"Finally,":[120],"we":[121],"experimentally":[122],"verify":[123],"models":[126],"during":[127],"an":[128],"target":[130],"tracking":[131],"task":[132],"experimental":[135],"results":[136],"demonstrate":[137],"that":[138,152],"collaborative":[139],"exoskeleton":[140],"robots":[141],"can":[146],"provide":[147],"humanlike":[148],"assistance,":[149],"indicate":[151],"movement":[153],"goal":[154],"exchange":[155],"key":[158],"assistance.":[161]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":2}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
