{"id":"https://openalex.org/W4402592485","doi":"https://doi.org/10.1109/tsmc.2024.3454556","title":"Toward Task-Independent Optimal Adaptive Control of a Hip Exoskeleton for Locomotion Assistance in Neurorehabilitation","display_name":"Toward Task-Independent Optimal Adaptive Control of a Hip Exoskeleton for Locomotion Assistance in Neurorehabilitation","publication_year":2024,"publication_date":"2024-09-18","ids":{"openalex":"https://openalex.org/W4402592485","doi":"https://doi.org/10.1109/tsmc.2024.3454556"},"language":"en","primary_location":{"id":"doi:10.1109/tsmc.2024.3454556","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2024.3454556","pdf_url":null,"source":{"id":"https://openalex.org/S4210209078","display_name":"IEEE Transactions on Systems Man and Cybernetics Systems","issn_l":"2168-2216","issn":["2168-2216","2168-2232"],"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 Systems, Man, and Cybernetics: Systems","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":null,"display_name":"Qiang Zhang","orcid":"https://orcid.org/0000-0002-8806-9672"},"institutions":[{"id":"https://openalex.org/I17301866","display_name":"University of Alabama","ror":"https://ror.org/03xrrjk67","country_code":"US","type":"education","lineage":["https://openalex.org/I17301866"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Qiang Zhang","raw_affiliation_strings":["Department of Mechanical Engineering, The University of Alabama, Tuscaloosa, AL, USA"],"raw_orcid":"https://orcid.org/0000-0002-8806-9672","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The University of Alabama, Tuscaloosa, AL, USA","institution_ids":["https://openalex.org/I17301866"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085653399","display_name":"Jennie Si","orcid":"https://orcid.org/0000-0002-0374-7404"},"institutions":[{"id":"https://openalex.org/I55732556","display_name":"Arizona State University","ror":"https://ror.org/03efmqc40","country_code":"US","type":"education","lineage":["https://openalex.org/I55732556"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jennie Si","raw_affiliation_strings":["Department of Electrical, Computer, and Energy Engineering, Arizona State University, Tempe, AZ, USA"],"raw_orcid":"https://orcid.org/0000-0002-0374-7404","affiliations":[{"raw_affiliation_string":"Department of Electrical, Computer, and Energy Engineering, Arizona State University, Tempe, AZ, USA","institution_ids":["https://openalex.org/I55732556"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052328769","display_name":"Xikai Tu","orcid":"https://orcid.org/0000-0002-6054-2093"},"institutions":[{"id":"https://openalex.org/I74525822","display_name":"Hubei University of Technology","ror":"https://ror.org/02d3fj342","country_code":"CN","type":"education","lineage":["https://openalex.org/I74525822"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xikai Tu","raw_affiliation_strings":["Department of Mechanical Engineering, Hubei University of Technology, Wuhan, Hubei, China"],"raw_orcid":"https://orcid.org/0000-0002-6054-2093","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Hubei University of Technology, Wuhan, Hubei, China","institution_ids":["https://openalex.org/I74525822"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036489015","display_name":"Minhan Li","orcid":"https://orcid.org/0000-0002-5234-0248"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Minhan Li","raw_affiliation_strings":["Planning and Control Department, DiDi Labs, Mountain View, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-5234-0248","affiliations":[{"raw_affiliation_string":"Planning and Control Department, DiDi Labs, Mountain View, CA, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050865436","display_name":"Michael D. Lewek","orcid":"https://orcid.org/0000-0002-1917-5594"},"institutions":[{"id":"https://openalex.org/I114027177","display_name":"University of North Carolina at Chapel Hill","ror":"https://ror.org/0130frc33","country_code":"US","type":"education","lineage":["https://openalex.org/I114027177"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael D. Lewek","raw_affiliation_strings":["Department of Health Sciences, The University of North Carolina at Chapel Hill, Chapel Hill, NC, USA"],"raw_orcid":"https://orcid.org/0000-0002-1917-5594","affiliations":[{"raw_affiliation_string":"Department of Health Sciences, The University of North Carolina at Chapel Hill, Chapel Hill, NC, USA","institution_ids":["https://openalex.org/I114027177"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5036072216","display_name":"He Huang","orcid":"https://orcid.org/0000-0001-5581-1423"},"institutions":[{"id":"https://openalex.org/I114027177","display_name":"University of North Carolina at Chapel Hill","ror":"https://ror.org/0130frc33","country_code":"US","type":"education","lineage":["https://openalex.org/I114027177"]},{"id":"https://openalex.org/I137902535","display_name":"North Carolina State University","ror":"https://ror.org/04tj63d06","country_code":"US","type":"education","lineage":["https://openalex.org/I137902535"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"He Huang","raw_affiliation_strings":["Joint Department of Biomedical Engineering, North Carolina State University and The University of North Carolina at Chapel Hill, Raleigh, NC, USA"],"raw_orcid":"https://orcid.org/0000-0001-5581-1423","affiliations":[{"raw_affiliation_string":"Joint Department of Biomedical Engineering, North Carolina State University and The University of North Carolina at Chapel Hill, Raleigh, NC, USA","institution_ids":["https://openalex.org/I137902535","https://openalex.org/I114027177"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I17301866"],"apc_list":null,"apc_paid":null,"fwci":1.6647,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.85556967,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"54","issue":"12","first_page":"7592","last_page":"7604"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9990000128746033,"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":0.9990000128746033,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9711999893188477,"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/T10227","display_name":"Acute Ischemic Stroke Management","score":0.9351999759674072,"subfield":{"id":"https://openalex.org/subfields/2713","display_name":"Epidemiology"},"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/neurorehabilitation","display_name":"Neurorehabilitation","score":0.9320953488349915},{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.9084564447402954},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.6616816520690918},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6443835496902466},{"id":"https://openalex.org/keywords/powered-exoskeleton","display_name":"Powered exoskeleton","score":0.505439043045044},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.42923638224601746},{"id":"https://openalex.org/keywords/unmanned-surface-vehicle","display_name":"Unmanned surface vehicle","score":0.426929771900177},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.362604558467865},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.30037927627563477},{"id":"https://openalex.org/keywords/rehabilitation","display_name":"Rehabilitation","score":0.2505066692829132},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21508175134658813},{"id":"https://openalex.org/keywords/neuroscience","display_name":"Neuroscience","score":0.188172847032547}],"concepts":[{"id":"https://openalex.org/C47177892","wikidata":"https://www.wikidata.org/wiki/Q3510101","display_name":"Neurorehabilitation","level":3,"score":0.9320953488349915},{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.9084564447402954},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.6616816520690918},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6443835496902466},{"id":"https://openalex.org/C45391945","wikidata":"https://www.wikidata.org/wiki/Q938523","display_name":"Powered exoskeleton","level":3,"score":0.505439043045044},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.42923638224601746},{"id":"https://openalex.org/C2987248590","wikidata":"https://www.wikidata.org/wiki/Q4419860","display_name":"Unmanned surface vehicle","level":2,"score":0.426929771900177},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.362604558467865},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.30037927627563477},{"id":"https://openalex.org/C2778818304","wikidata":"https://www.wikidata.org/wiki/Q1819478","display_name":"Rehabilitation","level":2,"score":0.2505066692829132},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21508175134658813},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.188172847032547},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","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/tsmc.2024.3454556","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2024.3454556","pdf_url":null,"source":{"id":"https://openalex.org/S4210209078","display_name":"IEEE Transactions on Systems Man and Cybernetics Systems","issn_l":"2168-2216","issn":["2168-2216","2168-2232"],"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 Systems, Man, and Cybernetics: Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/13","display_name":"Climate action","score":0.47999998927116394}],"awards":[{"id":"https://openalex.org/G2113439933","display_name":null,"funder_award_id":"2211740","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G2825977768","display_name":null,"funder_award_id":"1808752","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G4249723829","display_name":null,"funder_award_id":"2211739","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G5737810865","display_name":null,"funder_award_id":"1808898","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G6985948947","display_name":null,"funder_award_id":"2306660","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G7612995322","display_name":null,"funder_award_id":"90ARHF0004","funder_id":"https://openalex.org/F4320337604","funder_display_name":"National Institute on Disability, Independent Living, and Rehabilitation Research"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320337604","display_name":"National Institute on Disability, Independent Living, and Rehabilitation Research","ror":"https://ror.org/033jnv181"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":63,"referenced_works":["https://openalex.org/W1539683765","https://openalex.org/W1580648284","https://openalex.org/W1966260448","https://openalex.org/W1970312186","https://openalex.org/W1978047226","https://openalex.org/W1982936744","https://openalex.org/W2008854159","https://openalex.org/W2037715433","https://openalex.org/W2038802407","https://openalex.org/W2053099831","https://openalex.org/W2062363643","https://openalex.org/W2081254081","https://openalex.org/W2098099071","https://openalex.org/W2102046115","https://openalex.org/W2105644569","https://openalex.org/W2124477018","https://openalex.org/W2171323125","https://openalex.org/W2175613144","https://openalex.org/W2196056879","https://openalex.org/W2326141327","https://openalex.org/W2343715419","https://openalex.org/W2411309527","https://openalex.org/W2471234362","https://openalex.org/W2516874785","https://openalex.org/W2574540508","https://openalex.org/W2700163520","https://openalex.org/W2737156933","https://openalex.org/W2755367247","https://openalex.org/W2756487600","https://openalex.org/W2770394012","https://openalex.org/W2773166896","https://openalex.org/W2788331089","https://openalex.org/W2864113268","https://openalex.org/W2899699839","https://openalex.org/W2908949019","https://openalex.org/W2909711564","https://openalex.org/W2945684207","https://openalex.org/W2946362902","https://openalex.org/W2946765663","https://openalex.org/W2967902380","https://openalex.org/W2968742177","https://openalex.org/W2970489687","https://openalex.org/W2989872983","https://openalex.org/W3003887935","https://openalex.org/W3008933719","https://openalex.org/W3034289395","https://openalex.org/W3090048627","https://openalex.org/W3091627088","https://openalex.org/W3091725409","https://openalex.org/W3107239624","https://openalex.org/W3112128648","https://openalex.org/W3130335129","https://openalex.org/W3135449185","https://openalex.org/W3154613641","https://openalex.org/W3171225628","https://openalex.org/W3184479141","https://openalex.org/W3206688904","https://openalex.org/W3206774337","https://openalex.org/W4220873596","https://openalex.org/W4293370481","https://openalex.org/W4306834502","https://openalex.org/W4316013192","https://openalex.org/W6638975225"],"related_works":["https://openalex.org/W1989011507","https://openalex.org/W2908002960","https://openalex.org/W4386159943","https://openalex.org/W2808226217","https://openalex.org/W2015794229","https://openalex.org/W2893851384","https://openalex.org/W2780323031","https://openalex.org/W4388283394","https://openalex.org/W2019180467","https://openalex.org/W1483474999"],"abstract_inverted_index":{"Personalized":[0],"robotic":[1],"exoskeleton":[2,169],"control":[3,61,71,149,155],"is":[4,202],"essential":[5],"in":[6,36,221],"assisting":[7],"individuals":[8],"with":[9,212],"motor":[10],"deficits.":[11],"However,":[12],"current":[13],"research":[14],"still":[15],"lacks":[16],"a":[17,23,59,84,104,132,167],"solution":[18,136,156,207],"from":[19,217],"the":[20,27,30,64,67,81,115,139,143,154],"end":[21,31],"of":[22,26,32,107],"practical":[24,127],"need":[25],"problem":[28,123],"to":[29,78,94,102,120,125,137,182,195,203,226],"its":[33],"successful":[34],"demonstration":[35],"physical":[37],"environments,":[38],"namely":[39],"an":[40,173],"end-to-end":[41],"solution,":[42],"that":[43],"enables":[44],"stable":[45],"and":[46,98,124,162,191],"continuous":[47],"walking":[48,112,171],"across":[49],"different":[50,192],"tasks.":[51],"This":[52],"study":[53],"addresses":[54],"this":[55,121,206],"challenge":[56],"by":[57],"introducing":[58],"hierarchical":[60],"framework":[62,208],"for":[63,184,188],"purpose.":[65],"At":[66,80],"low":[68],"level,":[69,83],"impedance":[70,148,186],"ensures":[72],"joint":[73,197,219],"compliance":[74],"without":[75],"causing":[76],"injury":[77],"users.":[79],"high":[82],"reinforcement":[85],"learning":[86],"(RL)-based":[87],"optimal":[88,185],"adaptive":[89],"controller":[90],"automatically":[91],"personalizes":[92],"assistance":[93,220],"both":[95],"hip":[96,168,218],"extension":[97],"flexion":[99],"(namely,":[100],"bi-directional)":[101],"reach":[103],"target":[105],"range":[106],"motion":[108],"(ROM)":[109],"under":[110],"multiple":[111],"conditions.":[113],"As":[114],"first":[116],"potentially":[117],"feasible":[118],"approach":[119],"challenging":[122],"meet":[126],"use":[128],"requirements,":[129],"we":[130],"developed":[131],"least-square":[133],"policy":[134],"iteration-based":[135],"configure":[138],"intrinsic":[140],"parameters":[141,187],"within":[142],"well-established":[144],"finite":[145],"state":[146],"machine":[147],"(FSM-IC).":[150],"We":[151],"successfully":[152],"tested":[153],"on":[157,172,209],"eight":[158],"young":[159],"unimpaired":[160],"participants":[161],"one":[163],"participant":[164],"post-stroke":[165],"wearing":[166],"while":[170],"instrumented":[174],"treadmill.":[175],"The":[176],"proposed":[177],"method":[178],"can":[179],"be":[180],"applied":[181],"solving":[183],"individual":[189],"users":[190],"task":[193],"scenarios":[194],"increase":[196],"ROM.":[198],"Our":[199],"next":[200],"step":[201],"further":[204],"evaluate":[205],"additional":[210],"people":[211],"hemiparesis":[213],"who":[214],"may":[215],"benefit":[216],"therapy":[222],"or":[223,229],"daily":[224],"activities":[225],"restore":[227],"normative":[228],"improve":[230],"gait":[231],"patterns.":[232]},"counts_by_year":[{"year":2025,"cited_by_count":7}],"updated_date":"2025-12-22T23:10:17.713674","created_date":"2025-10-10T00:00:00"}