{"id":"https://openalex.org/W2742789118","doi":"https://doi.org/10.1109/urai.2017.7992809","title":"Design on subsection based mix position controller for lower limb rehabilitation robot","display_name":"Design on subsection based mix position controller for lower limb rehabilitation robot","publication_year":2017,"publication_date":"2017-06-01","ids":{"openalex":"https://openalex.org/W2742789118","doi":"https://doi.org/10.1109/urai.2017.7992809","mag":"2742789118"},"language":"en","primary_location":{"id":"doi:10.1109/urai.2017.7992809","is_oa":false,"landing_page_url":"https://doi.org/10.1109/urai.2017.7992809","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","raw_type":"proceedings-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/A5100381902","display_name":"Qiang Zhang","orcid":"https://orcid.org/0000-0002-2707-0258"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Qiang Zhang","raw_affiliation_strings":["Key Laboratory of Education Ministry for Modern Design and Rotor-Bearing System","School of Mechanical Engineering, Xi'an Jiaotong University, Xi'an, China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Education Ministry for Modern Design and Rotor-Bearing System","institution_ids":[]},{"raw_affiliation_string":"School of Mechanical Engineering, Xi'an Jiaotong University, Xi'an, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101470471","display_name":"Xiaodong Zhang","orcid":"https://orcid.org/0000-0002-4960-4986"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaodong Zhang","raw_affiliation_strings":["Key Laboratory of Education Ministry for Modern Design and Rotor-Bearing System","School of Mechanical Engineering, Xi'an Jiaotong University, Xi'an, China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Education Ministry for Modern Design and Rotor-Bearing System","institution_ids":[]},{"raw_affiliation_string":"School of Mechanical Engineering, Xi'an Jiaotong University, Xi'an, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102776498","display_name":"Gui Yin","orcid":"https://orcid.org/0000-0002-1458-1868"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Gui Yin","raw_affiliation_strings":["Key Laboratory of Education Ministry for Modern Design and Rotor-Bearing System","School of Mechanical Engineering, Xi'an Jiaotong University, Xi'an, China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Education Ministry for Modern Design and Rotor-Bearing System","institution_ids":[]},{"raw_affiliation_string":"School of Mechanical Engineering, Xi'an Jiaotong University, Xi'an, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046834885","display_name":"Kuncai Yang","orcid":null},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kuncai Yang","raw_affiliation_strings":["Key Laboratory of Education Ministry for Modern Design and Rotor-Bearing System","School of Mechanical Engineering, Xi'an Jiaotong University, Xi'an, China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Education Ministry for Modern Design and Rotor-Bearing System","institution_ids":[]},{"raw_affiliation_string":"School of Mechanical Engineering, Xi'an Jiaotong University, Xi'an, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101877179","display_name":"Jun Xie","orcid":"https://orcid.org/0000-0001-8619-4261"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jun Xie","raw_affiliation_strings":["School of Mechanical Engineering, Xi'an Jiaotong University, Xi'an, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Xi'an Jiaotong University, Xi'an, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077497857","display_name":"Xingliang Han","orcid":null},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xingliang Han","raw_affiliation_strings":["School of Mechanical Engineering, Xi'an Jiaotong University, Xi'an, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Xi'an Jiaotong University, Xi'an, China","institution_ids":["https://openalex.org/I87445476"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5100381902"],"corresponding_institution_ids":["https://openalex.org/I87445476"],"apc_list":null,"apc_paid":null,"fwci":0.2549,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.54545375,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"27","issue":null,"first_page":"720","last_page":"724"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9991000294685364,"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":0.9991000294685364,"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/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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9783999919891357,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.7327399253845215},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.662636399269104},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6429980993270874},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6286752820014954},{"id":"https://openalex.org/keywords/feed-forward","display_name":"Feed forward","score":0.5952057838439941},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4996180534362793},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4994235038757324},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.48536598682403564},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.4471132457256317},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3931579291820526},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.36982572078704834},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.36824682354927063},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2162252962589264},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17105427384376526}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.7327399253845215},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.662636399269104},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6429980993270874},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6286752820014954},{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.5952057838439941},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4996180534362793},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4994235038757324},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.48536598682403564},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.4471132457256317},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3931579291820526},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.36982572078704834},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36824682354927063},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2162252962589264},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17105427384376526},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/urai.2017.7992809","is_oa":false,"landing_page_url":"https://doi.org/10.1109/urai.2017.7992809","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Good health and well-being","id":"https://metadata.un.org/sdg/3","score":0.6100000143051147}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":6,"referenced_works":["https://openalex.org/W1442549794","https://openalex.org/W1993771995","https://openalex.org/W2055478070","https://openalex.org/W2097590197","https://openalex.org/W2147288676","https://openalex.org/W4234832683"],"related_works":["https://openalex.org/W2901258812","https://openalex.org/W2887985348","https://openalex.org/W2401700601","https://openalex.org/W2570835373","https://openalex.org/W3198063775","https://openalex.org/W2557545276","https://openalex.org/W4387054232","https://openalex.org/W3205655234","https://openalex.org/W2909939948","https://openalex.org/W2906683640"],"abstract_inverted_index":{"The":[0,171],"technology":[1],"of":[2,30,86,123,157,189],"lower":[3],"limb":[4],"rehabilitation":[5,41],"robot":[6,18,88],"is":[7,19,27,72,89,96,111,140,149],"a":[8,20],"hot":[9],"research":[10],"topic":[11],"in":[12,186],"recent":[13],"years,":[14],"while":[15],"the":[16,28,31,44,51,58,63,67,69,80,83,87,93,100,107,117,121,127,134,146,155,158,162,168,176,187,198],"exoskeleton":[17,32,53],"typical":[21],"representative.":[22],"Accurate":[23],"trajectory":[24,181],"tracking":[25,182],"ability":[26,183],"base":[29],"mechanical":[33],"leg":[34],"to":[35,39,113,153],"coordinately":[36],"drive":[37],"trainers":[38],"do":[40],"training":[42],"on":[43,75],"treadmill.":[45],"In":[46],"this":[47],"paper,":[48],"aiming":[49],"at":[50],"existing":[52],"body,":[54],"taking":[55],"into":[56],"account":[57],"uncertain":[59],"factors":[60],"such":[61],"as":[62,120,142,151],"modeling":[64,190],"errors":[65,191],"and":[66,92,106,145,184,192],"environment,":[68],"position":[70,94,169],"controller":[71,95,138],"designed":[73,97],"based":[74],"different":[76],"gait":[77],"events.":[78],"During":[79],"swing":[81],"phase,":[82,119],"kinetic":[84,128],"model":[85,129,136],"basically":[90],"determined,":[91,132],"by":[98,167],"using":[99],"sliding":[101],"mode":[102],"control":[103,148,159],"(SMC)":[104],"method,":[105],"fuzzy":[108],"compensation":[109],"method":[110,178],"introduced":[112,150],"reduce":[114],"disturbances;":[115],"during":[116],"stand":[118],"introduction":[122],"treadmill":[124],"contact":[125],"force,":[126],"cannot":[130],"be":[131],"then,":[133],"cerebellar":[135],"articulation":[137],"(CMAC)":[139],"used":[141],"feedforward":[143],"control,":[144],"PID":[147],"feedback":[152],"ensure":[154],"stability":[156,185],"system;":[160],"finally,":[161],"above":[163],"methods":[164],"are":[165],"mixed":[166],"segmentation.":[170],"simulation":[172],"results":[173],"show":[174],"that":[175],"proposed":[177],"has":[179],"good":[180],"presence":[188],"other":[193],"disturbances":[194],"when":[195],"compared":[196],"with":[197],"traditional":[199],"computed":[200],"torque":[201],"control.":[202]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}