{"id":"https://openalex.org/W3120513072","doi":"https://doi.org/10.1109/tie.2021.3050363","title":"Assistance Control of Human-Exoskeleton Integrated System for Balance Recovery Augmentation in Sagittal Plane","display_name":"Assistance Control of Human-Exoskeleton Integrated System for Balance Recovery Augmentation in Sagittal Plane","publication_year":2021,"publication_date":"2021-01-14","ids":{"openalex":"https://openalex.org/W3120513072","doi":"https://doi.org/10.1109/tie.2021.3050363","mag":"3120513072"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2021.3050363","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2021.3050363","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/A5102947698","display_name":"Yuxiang Hua","orcid":"https://orcid.org/0000-0001-6808-7112"},"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":"Yuxiang Hua","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0001-6808-7112","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102390398","display_name":"Yanmei Zhu","orcid":null},"institutions":[{"id":"https://openalex.org/I156144747","display_name":"Harbin Medical University","ror":"https://ror.org/05jscf583","country_code":"CN","type":"education","lineage":["https://openalex.org/I156144747"]},{"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":"Yanmei Zhu","raw_affiliation_strings":["Department of Neurology, Harbin Medical University, Harbin, China","State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Neurology, Harbin Medical University, Harbin, China","institution_ids":["https://openalex.org/I156144747"]},{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015340798","display_name":"Changle Li","orcid":"https://orcid.org/0000-0003-2568-8908"},"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":"Changle Li","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069459810","display_name":"Jie Zhao","orcid":"https://orcid.org/0000-0002-6086-9387"},"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":"Jie Zhao","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-6086-9387","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054543629","display_name":"Yanhe Zhu","orcid":"https://orcid.org/0000-0002-1960-6278"},"institutions":[{"id":"https://openalex.org/I156144747","display_name":"Harbin Medical University","ror":"https://ror.org/05jscf583","country_code":"CN","type":"education","lineage":["https://openalex.org/I156144747"]},{"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":"Yanhe Zhu","raw_affiliation_strings":["Department of Neurology, Harbin Medical University, Harbin, China","State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-1960-6278","affiliations":[{"raw_affiliation_string":"Department of Neurology, Harbin Medical University, Harbin, China","institution_ids":["https://openalex.org/I156144747"]},{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.6538,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.60862889,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"69","issue":"1","first_page":"528","last_page":"538"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9993000030517578,"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":0.9993000030517578,"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":0.9909999966621399,"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"}},{"id":"https://openalex.org/T11097","display_name":"Cerebral Palsy and Movement Disorders","score":0.9729999899864197,"subfield":{"id":"https://openalex.org/subfields/2738","display_name":"Psychiatry and Mental health"},"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/control-theory","display_name":"Control theory (sociology)","score":0.6315155029296875},{"id":"https://openalex.org/keywords/offset","display_name":"Offset (computer science)","score":0.5063976049423218},{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.5059325098991394},{"id":"https://openalex.org/keywords/sagittal-plane","display_name":"Sagittal plane","score":0.49660831689834595},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.48572903871536255},{"id":"https://openalex.org/keywords/balance","display_name":"Balance (ability)","score":0.4690046012401581},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4429056942462921},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4249381422996521},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.36422640085220337},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.2095903754234314},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1763753592967987},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1727418601512909},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1584266722202301}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6315155029296875},{"id":"https://openalex.org/C175291020","wikidata":"https://www.wikidata.org/wiki/Q1156822","display_name":"Offset (computer science)","level":2,"score":0.5063976049423218},{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.5059325098991394},{"id":"https://openalex.org/C178910020","wikidata":"https://www.wikidata.org/wiki/Q2211994","display_name":"Sagittal plane","level":2,"score":0.49660831689834595},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.48572903871536255},{"id":"https://openalex.org/C168031717","wikidata":"https://www.wikidata.org/wiki/Q1530280","display_name":"Balance (ability)","level":2,"score":0.4690046012401581},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4429056942462921},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4249381422996521},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.36422640085220337},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.2095903754234314},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1763753592967987},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1727418601512909},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1584266722202301},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2021.3050363","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2021.3050363","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":[{"display_name":"Affordable and clean energy","score":0.5299999713897705,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W186639547","https://openalex.org/W1975987482","https://openalex.org/W1976196405","https://openalex.org/W1995795964","https://openalex.org/W2001757193","https://openalex.org/W2021338655","https://openalex.org/W2057733825","https://openalex.org/W2074042377","https://openalex.org/W2079995373","https://openalex.org/W2102159351","https://openalex.org/W2104992636","https://openalex.org/W2130317597","https://openalex.org/W2144781570","https://openalex.org/W2144834630","https://openalex.org/W2150713722","https://openalex.org/W2161554807","https://openalex.org/W2168224345","https://openalex.org/W2289848289","https://openalex.org/W2330589301","https://openalex.org/W2343715419","https://openalex.org/W2467979783","https://openalex.org/W2570204580","https://openalex.org/W2586228764","https://openalex.org/W2781999526","https://openalex.org/W2788331089","https://openalex.org/W2917250835","https://openalex.org/W2943773715","https://openalex.org/W2944373859","https://openalex.org/W2944423114","https://openalex.org/W2946362902","https://openalex.org/W3004813982"],"related_works":["https://openalex.org/W2887985348","https://openalex.org/W2401700601","https://openalex.org/W2901258812","https://openalex.org/W3017269254","https://openalex.org/W2570835373","https://openalex.org/W2557545276","https://openalex.org/W4387054232","https://openalex.org/W2283997923","https://openalex.org/W3205655234","https://openalex.org/W2906683640"],"abstract_inverted_index":{"This":[0],"article":[1],"proposed":[2],"a":[3],"humanoid":[4],"balance":[5,11,40,138,152],"assistance":[6,50],"strategy":[7],"(BAS)":[8],"to":[9,33,45,70,78],"enhance":[10],"recovery":[12,139,153],"in":[13,84],"sagittal":[14],"plane.":[15],"Numerical":[16],"construction":[17],"of":[18,28,61,75,101,103,137],"balanced":[19],"state":[20],"manifold":[21],"(BSM)":[22],"which":[23],"accounts":[24],"for":[25,151],"active":[26],"intervention":[27],"human":[29],"ankles":[30],"is":[31,43,68,106,140],"developed":[32],"detect":[34],"imbalance":[35,87],"criticality":[36],"(IC).":[37],"A":[38,52],"human-in-the-loop":[39],"judgment":[41],"criterion":[42],"established":[44],"appropriately":[46],"trigger":[47],"the":[48,79,148],"external":[49],"intervention.":[51],"unified":[53],"assistive":[54],"torque":[55],"controller":[56],"based":[57],"on":[58],"minimization":[59],"modulation":[60],"virtual":[62],"potential":[63],"energy":[64],"(VPE)":[65],"towards":[66],"BSM":[67],"designed":[69],"augment":[71],"posture":[72],"regulation.":[73],"Exploitation":[74],"BAS":[76],"leads":[77],"following":[80],"contributions:":[81],"1)":[82],"ICs":[83],"6":[85],"typical":[86],"situations":[88],"are":[89,128],"accurately":[90],"detected,":[91],"with":[92],"identification":[93],"error":[94],"within":[95],"23.7%.":[96],"2)":[97],"Traversal":[98],"imbalanced":[99,111],"region":[100],"center":[102],"mass":[104],"(CoM)":[105],"reduced":[107,129,141],"by":[108,115,130,142,154],"44.2%":[109],"(with":[110],"position/velocity":[112],"range":[113],"(IPR/IVR)":[114],"35.6%/34.3%).":[116],"3)":[117],"Position":[118],"offset":[119],"(PO)":[120],"and":[121,132],"velocity":[122],"impact":[123],"(VI)":[124],"at":[125],"landing":[126],"collision":[127],"39.3%":[131],"59.4%.":[133],"4)":[134],"Elapsed":[135],"time":[136],"160\u2013580":[143],"ms.":[144],"Experimental":[145],"verification":[146],"demonstrates":[147],"significant":[149],"augmentation":[150],"BAS.":[155]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":4}],"updated_date":"2026-07-29T09:40:50.615796","created_date":"2025-10-10T00:00:00"}
