{"id":"https://openalex.org/W4285242221","doi":"https://doi.org/10.1109/tie.2022.3183358","title":"Event-Triggered Adaptive Hybrid Torque-Position Control (ET-AHTPC) for Robot-Assisted Ankle Rehabilitation","display_name":"Event-Triggered Adaptive Hybrid Torque-Position Control (ET-AHTPC) for Robot-Assisted Ankle Rehabilitation","publication_year":2022,"publication_date":"2022-06-21","ids":{"openalex":"https://openalex.org/W4285242221","doi":"https://doi.org/10.1109/tie.2022.3183358"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2022.3183358","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2022.3183358","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/A5010245248","display_name":"Jie Zuo","orcid":"https://orcid.org/0000-0002-9167-6780"},"institutions":[{"id":"https://openalex.org/I196699116","display_name":"Wuhan University of Technology","ror":"https://ror.org/03fe7t173","country_code":"CN","type":"education","lineage":["https://openalex.org/I196699116"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jie Zuo","raw_affiliation_strings":["School of Information Engineering, Wuhan University of Technology, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0002-9167-6780","affiliations":[{"raw_affiliation_string":"School of Information Engineering, Wuhan University of Technology, Wuhan, China","institution_ids":["https://openalex.org/I196699116"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100414577","display_name":"Quan Liu","orcid":"https://orcid.org/0000-0002-9036-0290"},"institutions":[{"id":"https://openalex.org/I196699116","display_name":"Wuhan University of Technology","ror":"https://ror.org/03fe7t173","country_code":"CN","type":"education","lineage":["https://openalex.org/I196699116"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Quan Liu","raw_affiliation_strings":["School of Information Engineering, Wuhan University of Technology, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0002-9036-0290","affiliations":[{"raw_affiliation_string":"School of Information Engineering, Wuhan University of Technology, Wuhan, China","institution_ids":["https://openalex.org/I196699116"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088723765","display_name":"Wei Meng","orcid":"https://orcid.org/0000-0003-0209-8753"},"institutions":[{"id":"https://openalex.org/I196699116","display_name":"Wuhan University of Technology","ror":"https://ror.org/03fe7t173","country_code":"CN","type":"education","lineage":["https://openalex.org/I196699116"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Meng","raw_affiliation_strings":["School of Information Engineering, Wuhan University of Technology, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0003-0209-8753","affiliations":[{"raw_affiliation_string":"School of Information Engineering, Wuhan University of Technology, Wuhan, China","institution_ids":["https://openalex.org/I196699116"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091654425","display_name":"Qingsong Ai","orcid":"https://orcid.org/0000-0003-4283-2289"},"institutions":[{"id":"https://openalex.org/I196699116","display_name":"Wuhan University of Technology","ror":"https://ror.org/03fe7t173","country_code":"CN","type":"education","lineage":["https://openalex.org/I196699116"]},{"id":"https://openalex.org/I75900474","display_name":"Hubei University","ror":"https://ror.org/03a60m280","country_code":"CN","type":"education","lineage":["https://openalex.org/I75900474"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qingsong Ai","raw_affiliation_strings":["School of Information Engineering, Wuhan University of Technology, Wuhan, China","School of Computer Science and Information Engineering, Hubei University, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0003-4283-2289","affiliations":[{"raw_affiliation_string":"School of Information Engineering, Wuhan University of Technology, Wuhan, China","institution_ids":["https://openalex.org/I196699116"]},{"raw_affiliation_string":"School of Computer Science and Information Engineering, Hubei University, Wuhan, China","institution_ids":["https://openalex.org/I75900474"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035866142","display_name":"Sheng Quan Xie","orcid":"https://orcid.org/0000-0003-2641-2620"},"institutions":[{"id":"https://openalex.org/I130828816","display_name":"University of Leeds","ror":"https://ror.org/024mrxd33","country_code":"GB","type":"education","lineage":["https://openalex.org/I130828816"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Sheng Quan Xie","raw_affiliation_strings":["School of Electronic and Electrical Engineering, University of Leeds, Leeds, U.K"],"raw_orcid":"https://orcid.org/0000-0003-2641-2620","affiliations":[{"raw_affiliation_string":"School of Electronic and Electrical Engineering, University of Leeds, Leeds, U.K","institution_ids":["https://openalex.org/I130828816"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.0029,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":{"value":0.86960114,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"70","issue":"5","first_page":"4993","last_page":"5003"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9977999925613403,"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":0.9977999925613403,"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/T10925","display_name":"Spinal Cord Injury Research","score":0.992900013923645,"subfield":{"id":"https://openalex.org/subfields/2734","display_name":"Pathology and Forensic Medicine"},"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/T14011","display_name":"Elevator Systems and Control","score":0.9891999959945679,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.7079058289527893},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6138088703155518},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.601730227470398},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5643388032913208},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5529522895812988},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5120933055877686},{"id":"https://openalex.org/keywords/rehabilitation-robotics","display_name":"Rehabilitation robotics","score":0.4177917242050171},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.37538889050483704},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.35939180850982666},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3420727849006653},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27103668451309204},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17342722415924072}],"concepts":[{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.7079058289527893},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6138088703155518},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.601730227470398},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5643388032913208},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5529522895812988},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5120933055877686},{"id":"https://openalex.org/C2775862927","wikidata":"https://www.wikidata.org/wiki/Q7309766","display_name":"Rehabilitation robotics","level":3,"score":0.4177917242050171},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.37538889050483704},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.35939180850982666},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3420727849006653},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27103668451309204},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17342722415924072},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tie.2022.3183358","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2022.3183358","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"},{"id":"pmh:oai:eprints.whiterose.ac.uk:189762","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306400854","display_name":"White Rose Research Online (University of Leeds, The University of Sheffield, University of York)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2800616092","host_organization_name":"White Rose University Consortium","host_organization_lineage":["https://openalex.org/I2800616092"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.6100000143051147,"id":"https://metadata.un.org/sdg/16"}],"awards":[{"id":"https://openalex.org/G5445492989","display_name":null,"funder_award_id":"EP/S019219/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G8117245441","display_name":null,"funder_award_id":"52075398","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"},{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W1984780617","https://openalex.org/W2346795597","https://openalex.org/W2480536132","https://openalex.org/W2537878323","https://openalex.org/W2590859527","https://openalex.org/W2727279496","https://openalex.org/W2762068781","https://openalex.org/W2775038930","https://openalex.org/W2793183944","https://openalex.org/W2899229270","https://openalex.org/W2902172955","https://openalex.org/W2904250630","https://openalex.org/W2911551133","https://openalex.org/W2943141190","https://openalex.org/W2950843852","https://openalex.org/W2957574940","https://openalex.org/W2980834455","https://openalex.org/W2987963152","https://openalex.org/W2988191778","https://openalex.org/W3003299879","https://openalex.org/W3017345260","https://openalex.org/W3020990750","https://openalex.org/W3030611757","https://openalex.org/W3035333927","https://openalex.org/W3044382967","https://openalex.org/W3091896513","https://openalex.org/W3096706420","https://openalex.org/W3098760291","https://openalex.org/W3126334423","https://openalex.org/W3127972810","https://openalex.org/W3156830465","https://openalex.org/W3170227478","https://openalex.org/W3171168560","https://openalex.org/W3177676763","https://openalex.org/W3195396826","https://openalex.org/W3210965427"],"related_works":["https://openalex.org/W4323768008","https://openalex.org/W1941703695","https://openalex.org/W4248382324","https://openalex.org/W3131574667","https://openalex.org/W4360995134","https://openalex.org/W3023605104","https://openalex.org/W2039473718","https://openalex.org/W2903025760","https://openalex.org/W4289147272","https://openalex.org/W2018658498"],"abstract_inverted_index":{"Ankle":[0],"rehabilitation":[1,29,72,100,178],"for":[2,51,68,153,203],"an":[3],"increasing":[4],"number":[5],"of":[6,159,171],"strokes":[7],"is":[8,63,94,112,137,144,163],"highly":[9],"demanded,":[10],"and":[11,22,47,127,139,187,199],"robot-assisted":[12,99],"approach":[13],"has":[14],"shown":[15],"great":[16],"potential.":[17],"Since":[18],"the":[19,31,52,79,85,90,104,148,160,166,176,182,195],"required":[20],"movement":[21,201],"force":[23],"assistances":[24,33],"will":[25],"concurrently":[26],"change":[27],"during":[28],"sessions,":[30],"robotic":[32,109],"are":[34],"supposed":[35],"to":[36,42,89,146,180],"be":[37],"adjusted":[38,95],"accordingly.":[39],"In":[40,78],"order":[41],"achieve":[43],"both":[44],"adaptive":[45,59,81,188],"torque":[46,82,87,126,198],"synchronous":[48],"position":[49,135],"control":[50,62,83,149],"robot":[53,73,179],"in":[54,65],"practice,":[55],"a":[56,69,97,120,131,140],"novel":[57,80],"event-triggered":[58,133],"hybrid":[60],"torque-position":[61],"proposed":[64],"this":[66],"article":[67],"developed":[70],"ankle":[71,177],"driven":[74],"by":[75,96,115,124,165],"pneumatic":[76],"muscles.":[77],"scheme,":[84],"assistive":[86,197],"adapted":[88],"patient's":[91,116],"recovery":[92,207],"state":[93],"designed":[98],"index":[101,122],"mapping":[102],"from":[103],"clinical":[105],"assessment":[106],"scale.":[107],"The":[108,157],"assistance":[110,189],"output":[111],"online":[113,193],"corrected":[114],"performance,":[117],"based":[118],"on":[119,175],"correcting":[121],"calculated":[123],"interaction":[125],"tracking":[128,186],"errors.":[129],"Then,":[130],"model-based":[132],"optimal":[134],"controller":[136],"established":[138],"critic":[141],"neural":[142],"network":[143],"introduced":[145],"reduce":[147],"law":[150],"update":[151],"frequency":[152],"fast":[154,184],"trajectory":[155,185],"tracking.":[156],"stability":[158],"overall":[161],"system":[162],"proved":[164],"Lyapunov":[167],"theorem.":[168],"A":[169],"series":[170],"experiments":[172],"were":[173],"conducted":[174],"validate":[181],"controller's":[183],"capacity,":[190],"which":[191],"can":[192],"adjust":[194],"robot's":[196],"allowable":[200],"range":[202],"patients":[204],"at":[205],"different":[206],"stages.":[208]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}