{"id":"https://openalex.org/W2767704770","doi":"https://doi.org/10.1109/tro.2017.2765334","title":"Asymmetric Bimanual Control of Dual-Arm Exoskeletons for Human-Cooperative Manipulations","display_name":"Asymmetric Bimanual Control of Dual-Arm Exoskeletons for Human-Cooperative Manipulations","publication_year":2017,"publication_date":"2017-11-10","ids":{"openalex":"https://openalex.org/W2767704770","doi":"https://doi.org/10.1109/tro.2017.2765334","mag":"2767704770"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2017.2765334","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2017.2765334","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/11568/901849","any_repository_has_fulltext":true},"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"]},{"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","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":"College of Automation Science and Engineering, South China University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]},{"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/A5103106334","display_name":"Bo Huang","orcid":"https://orcid.org/0000-0002-8670-5698"},"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":"Bo Huang","raw_affiliation_strings":["College of Automation Science and Engineering, South China University of Technology, Guangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-8670-5698","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/A5070028115","display_name":"Arash Ajoudani","orcid":"https://orcid.org/0000-0002-1261-737X"},"institutions":[{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]},{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]},{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Arash Ajoudani","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","Interdepartmental Research Center \u201cE. Piaggio,\u201d Faculty of Engineering, University of Pisa, Italy","Interdepartmental Research Center \"E. Piaggio,\" Faculty of Engineering, University of Pisa, Italy"],"raw_orcid":"https://orcid.org/0000-0002-1261-737X","affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Interdepartmental Research Center \u201cE. Piaggio,\u201d Faculty of Engineering, University of Pisa, Italy","institution_ids":["https://openalex.org/I108290504","https://openalex.org/I1300504238"]},{"raw_affiliation_string":"Interdepartmental Research Center \"E. Piaggio,\" Faculty of Engineering, University of Pisa, Italy","institution_ids":["https://openalex.org/I108290504","https://openalex.org/I1300504238"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019906827","display_name":"Chenguang Yang","orcid":"https://orcid.org/0000-0001-5255-5559"},"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":"Chenguang Yang","raw_affiliation_strings":["College of Automation Science and Engineering, South China University of Technology, Guangzhou, China"],"raw_orcid":"https://orcid.org/0000-0001-5255-5559","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/A5076212272","display_name":"Chun\u2010Yi Su","orcid":"https://orcid.org/0000-0002-1869-5563"},"institutions":[{"id":"https://openalex.org/I60158472","display_name":"Concordia University","ror":"https://ror.org/0420zvk78","country_code":"CA","type":"education","lineage":["https://openalex.org/I60158472"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Chun-Yi Su","raw_affiliation_strings":["Department of Mechanical, Industrial and Aerospace Engineering, Concordia University, Montreal, Canada"],"raw_orcid":"https://orcid.org/0000-0002-1869-5563","affiliations":[{"raw_affiliation_string":"Department of Mechanical, Industrial and Aerospace Engineering, Concordia University, Montreal, Canada","institution_ids":["https://openalex.org/I60158472"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082180334","display_name":"Antonio Bicchi","orcid":"https://orcid.org/0000-0001-8635-5571"},"institutions":[{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]},{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]},{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Antonio Bicchi","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","Interdepartmental Research Center \u201cE. Piaggio,\u201d Faculty of Engineering, University of Pisa, Italy","Interdepartmental Research Center \"E. Piaggio,\" Faculty of Engineering, University of Pisa, Italy"],"raw_orcid":"https://orcid.org/0000-0001-8635-5571","affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Interdepartmental Research Center \u201cE. Piaggio,\u201d Faculty of Engineering, University of Pisa, Italy","institution_ids":["https://openalex.org/I108290504","https://openalex.org/I1300504238"]},{"raw_affiliation_string":"Interdepartmental Research Center \"E. Piaggio,\" Faculty of Engineering, University of Pisa, Italy","institution_ids":["https://openalex.org/I108290504","https://openalex.org/I1300504238"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":9.5937,"has_fulltext":false,"cited_by_count":190,"citation_normalized_percentile":{"value":0.98929128,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"34","issue":"1","first_page":"264","last_page":"271"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9983000159263611,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9958000183105469,"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/impedance-control","display_name":"Impedance control","score":0.8098950386047363},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7236864566802979},{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.6858835220336914},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6555414795875549},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5780690908432007},{"id":"https://openalex.org/keywords/powered-exoskeleton","display_name":"Powered exoskeleton","score":0.5675974488258362},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5373948812484741},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48864060640335083},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4388868808746338},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4258686900138855},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.4105377197265625},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3916558623313904},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3580246567726135},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32044780254364014},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24511149525642395},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22042009234428406}],"concepts":[{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.8098950386047363},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7236864566802979},{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.6858835220336914},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6555414795875549},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5780690908432007},{"id":"https://openalex.org/C45391945","wikidata":"https://www.wikidata.org/wiki/Q938523","display_name":"Powered exoskeleton","level":3,"score":0.5675974488258362},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5373948812484741},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48864060640335083},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4388868808746338},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4258686900138855},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.4105377197265625},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3916558623313904},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3580246567726135},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32044780254364014},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24511149525642395},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22042009234428406},{"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/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/tro.2017.2765334","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2017.2765334","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Robotics","raw_type":"journal-article"},{"id":"pmh:oai:arpi.unipi.it:11568/901849","is_oa":true,"landing_page_url":"http://hdl.handle.net/11568/901849","pdf_url":null,"source":{"id":"https://openalex.org/S4377196265","display_name":"CINECA IRIS Institutial research information system (University of Pisa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I108290504","host_organization_name":"University of Pisa","host_organization_lineage":["https://openalex.org/I108290504"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:arpi.unipi.it:11568/901849","is_oa":true,"landing_page_url":"http://hdl.handle.net/11568/901849","pdf_url":null,"source":{"id":"https://openalex.org/S4377196265","display_name":"CINECA IRIS Institutial research information system (University of Pisa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I108290504","host_organization_name":"University of Pisa","host_organization_lineage":["https://openalex.org/I108290504"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"},"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/G5252884282","display_name":null,"funder_award_id":"91520201","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7981495991","display_name":null,"funder_award_id":"2014Y2-00507","funder_id":"https://openalex.org/F4320335794","funder_display_name":"Guangzhou Research Collaborative Innovation Projects"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335794","display_name":"Guangzhou Research Collaborative Innovation Projects","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1496777766","https://openalex.org/W1566538824","https://openalex.org/W1980180948","https://openalex.org/W1986772304","https://openalex.org/W2004829548","https://openalex.org/W2008418625","https://openalex.org/W2010355792","https://openalex.org/W2023689937","https://openalex.org/W2043536379","https://openalex.org/W2048315518","https://openalex.org/W2062373349","https://openalex.org/W2068777511","https://openalex.org/W2082196037","https://openalex.org/W2101392974","https://openalex.org/W2107949070","https://openalex.org/W2109151516","https://openalex.org/W2110110938","https://openalex.org/W2133322641","https://openalex.org/W2141068999","https://openalex.org/W2152291423","https://openalex.org/W2169377118","https://openalex.org/W2489215700"],"related_works":["https://openalex.org/W1989011507","https://openalex.org/W2908002960","https://openalex.org/W2808226217","https://openalex.org/W2015794229","https://openalex.org/W2893851384","https://openalex.org/W2780323031","https://openalex.org/W2753647732","https://openalex.org/W4388283394","https://openalex.org/W2120000215","https://openalex.org/W2062010076"],"abstract_inverted_index":{"In":[0,115],"this":[1],"paper,":[2],"two":[3],"upper":[4],"limbs":[5],"of":[6,16,23,66,73,85,111,150,159],"an":[7],"exoskeleton":[8],"robot":[9,54,119],"are":[10,40],"operated":[11],"within":[12],"a":[13,89,122,133],"constrained":[14],"region":[15],"the":[17,24,44,53,64,67,74,82,105,112,118,128,148,151],"operational":[18],"space":[19],"with":[20,104],"unidentified":[21],"intention":[22,61,130],"human":[25,45],"operator's":[26],"motion":[27,60,129,161],"as":[28,30],"well":[29],"uncertain":[31],"dynamics":[32],"including":[33],"physical":[34],"limits.":[35],"The":[36,59],"new":[37],"human-cooperative":[38],"strategies":[39],"developed":[41],"to":[42,51,80,102,120,146],"detect":[43],"subject's":[46,68],"movement":[47],"efforts":[48],"in":[49,71,157],"order":[50,116],"make":[52],"behavior":[55],"flexible":[56],"and":[57,107,162],"adaptive.":[58],"extracted":[62],"from":[63],"measurement":[65],"muscular":[69],"effort":[70],"terms":[72,158],"applied":[75],"forces/torques":[76],"can":[77],"be":[78],"represented":[79],"derive":[81],"reference":[83],"trajectory":[84],"his/her":[86],"limb":[87,113],"using":[88],"viable":[90],"impedance":[91,98,124,139],"model.":[92,114],"Then,":[93],"adaptive":[94,138],"online":[95],"estimation":[96,131],"for":[97,117],"parameters":[99],"is":[100],"employed":[101],"deal":[103],"nonlinear":[106],"variable":[108],"stiffness":[109],"property":[110],"follow":[121],"specific":[123],"target,":[125],"we":[126],"integrate":[127],"into":[132],"barrier":[134],"Lyapunov":[135],"function":[136],"based":[137],"control.":[140],"Experiments":[141],"have":[142],"been":[143],"carried":[144],"out":[145],"verify":[147],"effectiveness":[149],"proposed":[152],"dual-arm":[153],"coordination":[154],"control":[155],"scheme,":[156],"desired":[160],"force":[163],"tracking.":[164]},"counts_by_year":[{"year":2025,"cited_by_count":15},{"year":2024,"cited_by_count":13},{"year":2023,"cited_by_count":18},{"year":2022,"cited_by_count":25},{"year":2021,"cited_by_count":31},{"year":2020,"cited_by_count":49},{"year":2019,"cited_by_count":27},{"year":2018,"cited_by_count":12}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
