{"id":"https://openalex.org/W2954716940","doi":"https://doi.org/10.1142/s0219843619500208","title":"A New Impedance Controller Based on Nonlinear Model Reference Adaptive Control for Exoskeleton Systems","display_name":"A New Impedance Controller Based on Nonlinear Model Reference Adaptive Control for Exoskeleton Systems","publication_year":2019,"publication_date":"2019-06-27","ids":{"openalex":"https://openalex.org/W2954716940","doi":"https://doi.org/10.1142/s0219843619500208","mag":"2954716940"},"language":"en","primary_location":{"id":"doi:10.1142/s0219843619500208","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0219843619500208","pdf_url":null,"source":{"id":"https://openalex.org/S75343556","display_name":"International Journal of Humanoid Robotics","issn_l":"0219-8436","issn":["0219-8436","1793-6942"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Humanoid Robotics","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/A5086773660","display_name":"Kai Gui","orcid":"https://orcid.org/0000-0001-7251-3348"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kai Gui","raw_affiliation_strings":["State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, P.\u00a0R.\u00a0China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, P.\u00a0R.\u00a0China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023142347","display_name":"U-Xuan Tan","orcid":"https://orcid.org/0000-0002-5757-1379"},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"U-Xuan Tan","raw_affiliation_strings":["Singapore University of Technology and Design, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Singapore University of Technology and Design, Singapore","institution_ids":["https://openalex.org/I152815399"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085867312","display_name":"Honghai Liu","orcid":"https://orcid.org/0000-0002-2880-4698"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Honghai Liu","raw_affiliation_strings":["State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, P.\u00a0R.\u00a0China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, P.\u00a0R.\u00a0China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101636282","display_name":"Dingguo Zhang","orcid":"https://orcid.org/0000-0003-4803-7489"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]},{"id":"https://openalex.org/I51601045","display_name":"University of Bath","ror":"https://ror.org/002h8g185","country_code":"GB","type":"education","lineage":["https://openalex.org/I51601045"]}],"countries":["CN","GB"],"is_corresponding":false,"raw_author_name":"Dingguo Zhang","raw_affiliation_strings":["Department of Electronic & Electrical Engineering, University of Bath, UK","State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, P.\u00a0R.\u00a0China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronic & Electrical Engineering, University of Bath, UK","institution_ids":["https://openalex.org/I51601045"]},{"raw_affiliation_string":"State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, P.\u00a0R.\u00a0China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.2904,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.54239012,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"16","issue":"05","first_page":"1950020","last_page":"1950020"},"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/T10675","display_name":"Mechanical Circulatory Support Devices","score":0.9911999702453613,"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":0.991100013256073,"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/computer-science","display_name":"Computer science","score":0.7461044788360596},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6885817050933838},{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.6811577081680298},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6475945115089417},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.6056355237960815},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.5789064764976501},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5768495202064514},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.568057119846344},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.507195234298706},{"id":"https://openalex.org/keywords/initialization","display_name":"Initialization","score":0.4945203959941864},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4416927695274353},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.43465158343315125},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.25227534770965576},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.20085859298706055},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1143580973148346},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11280480027198792}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7461044788360596},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6885817050933838},{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.6811577081680298},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6475945115089417},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.6056355237960815},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.5789064764976501},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5768495202064514},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.568057119846344},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.507195234298706},{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.4945203959941864},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4416927695274353},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.43465158343315125},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.25227534770965576},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.20085859298706055},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1143580973148346},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11280480027198792},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1142/s0219843619500208","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0219843619500208","pdf_url":null,"source":{"id":"https://openalex.org/S75343556","display_name":"International Journal of Humanoid Robotics","issn_l":"0219-8436","issn":["0219-8436","1793-6942"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Humanoid Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5299999713897705,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[{"id":"https://openalex.org/G1160252858","display_name":null,"funder_award_id":"17510740400","funder_id":"https://openalex.org/F4320321885","funder_display_name":"Science and Technology Commission of Shanghai Municipality"},{"id":"https://openalex.org/G6326172953","display_name":null,"funder_award_id":"51575338","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7039487760","display_name":null,"funder_award_id":"61761166006","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/F4320321885","display_name":"Science and Technology Commission of Shanghai Municipality","ror":"https://ror.org/03kt66j61"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1487127700","https://openalex.org/W1962151496","https://openalex.org/W1978023077","https://openalex.org/W1997048034","https://openalex.org/W2021196657","https://openalex.org/W2022365837","https://openalex.org/W2060739390","https://openalex.org/W2070054839","https://openalex.org/W2070935310","https://openalex.org/W2072812226","https://openalex.org/W2080785832","https://openalex.org/W2097323016","https://openalex.org/W2104536749","https://openalex.org/W2111253117","https://openalex.org/W2111628946","https://openalex.org/W2114584581","https://openalex.org/W2133322641","https://openalex.org/W2141239239","https://openalex.org/W2154874053","https://openalex.org/W2162189406","https://openalex.org/W2164898903","https://openalex.org/W2165010569","https://openalex.org/W2166869394","https://openalex.org/W2168117107","https://openalex.org/W2204164273","https://openalex.org/W2235818754","https://openalex.org/W2314354413","https://openalex.org/W2535588239","https://openalex.org/W2587131106","https://openalex.org/W2616167242","https://openalex.org/W2883996957"],"related_works":["https://openalex.org/W2901258812","https://openalex.org/W2887985348","https://openalex.org/W2401700601","https://openalex.org/W2570835373","https://openalex.org/W2557545276","https://openalex.org/W4387054232","https://openalex.org/W3198063775","https://openalex.org/W1553696796","https://openalex.org/W1934622834","https://openalex.org/W2015036175"],"abstract_inverted_index":{"Robotic":[0],"exoskeletons":[1],"are":[2,48],"expected":[3],"to":[4,29,51],"show":[5],"high":[6,97],"compliance":[7,98,105],"and":[8,34,45,60,86,95,104],"low":[9],"impedance":[10,33,38,94],"for":[11,63,78,99],"human\u2013robot":[12],"interactions":[13],"(HRIs).":[14],"Our":[15],"study":[16],"introduces":[17],"a":[18,52,72],"novel":[19],"method":[20,62],"based":[21],"on":[22],"nonlinear":[23,65,114],"model":[24],"reference":[25],"adaptive":[26,46,102],"control":[27,43,103,106],"(MRAC)":[28],"reduce":[30,91],"the":[31,36,64,79,82,92,112],"inherent":[32],"replace":[35],"traditional":[37],"controller":[39,89],"in":[40],"HRIs.":[41],"The":[42,101],"law":[44,47],"designed":[49],"according":[50],"candidate":[53],"Lyapunov":[54],"function.":[55],"A":[56],"simple":[57],"system":[58],"identification":[59],"initialization":[61],"MRAC":[66,115],"is":[67],"put":[68],"forward,":[69],"which":[70],"provides":[71],"set":[73],"of":[74,84],"better":[75],"initial":[76],"values":[77],"controller.":[80],"From":[81],"results":[83],"simulation":[85],"experiment,":[87],"our":[88],"can":[90,107],"mechanical":[93],"achieve":[96],"HRI.":[100],"be":[108],"both":[109],"achieved":[110],"by":[111],"proposed":[113],"framework.":[116]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}