{"id":"https://openalex.org/W3041903163","doi":"https://doi.org/10.1177/0959651820932026","title":"Dynamic trajectory adjustment of lower limb exoskeleton in swing phase based on impedance control strategy","display_name":"Dynamic trajectory adjustment of lower limb exoskeleton in swing phase based on impedance control strategy","publication_year":2020,"publication_date":"2020-07-10","ids":{"openalex":"https://openalex.org/W3041903163","doi":"https://doi.org/10.1177/0959651820932026","mag":"3041903163"},"language":"en","primary_location":{"id":"doi:10.1177/0959651820932026","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0959651820932026","pdf_url":null,"source":{"id":"https://openalex.org/S4210196624","display_name":"Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering","issn_l":"0959-6518","issn":["0959-6518","2041-3041"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","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/A5100745203","display_name":"Lingling Chen","orcid":"https://orcid.org/0000-0001-8903-0350"},"institutions":[{"id":"https://openalex.org/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"government","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]},{"id":"https://openalex.org/I184843921","display_name":"Hebei University of Technology","ror":"https://ror.org/018hded08","country_code":"CN","type":"education","lineage":["https://openalex.org/I184843921"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lingling Chen","raw_affiliation_strings":["Engineering Research Center of Intelligent Rehabilitation, Ministry of Education, Tianjin, China","School of Artificial Intelligence, Hebei University of Technology, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Engineering Research Center of Intelligent Rehabilitation, Ministry of Education, Tianjin, China","institution_ids":["https://openalex.org/I1327237609"]},{"raw_affiliation_string":"School of Artificial Intelligence, Hebei University of Technology, Tianjin, China","institution_ids":["https://openalex.org/I184843921"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043482460","display_name":"Chao Wang","orcid":"https://orcid.org/0000-0002-9071-022X"},"institutions":[{"id":"https://openalex.org/I184843921","display_name":"Hebei University of Technology","ror":"https://ror.org/018hded08","country_code":"CN","type":"education","lineage":["https://openalex.org/I184843921"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chao Wang","raw_affiliation_strings":["School of Artificial Intelligence, Hebei University of Technology, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence, Hebei University of Technology, Tianjin, China","institution_ids":["https://openalex.org/I184843921"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103141612","display_name":"Xiaowei Song","orcid":"https://orcid.org/0000-0001-8247-5859"},"institutions":[{"id":"https://openalex.org/I184843921","display_name":"Hebei University of Technology","ror":"https://ror.org/018hded08","country_code":"CN","type":"education","lineage":["https://openalex.org/I184843921"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaowei Song","raw_affiliation_strings":["School of Artificial Intelligence, Hebei University of Technology, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0001-8247-5859","affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence, Hebei University of Technology, Tianjin, China","institution_ids":["https://openalex.org/I184843921"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100739254","display_name":"Jie Wang","orcid":"https://orcid.org/0000-0002-8613-3976"},"institutions":[{"id":"https://openalex.org/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"government","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]},{"id":"https://openalex.org/I184843921","display_name":"Hebei University of Technology","ror":"https://ror.org/018hded08","country_code":"CN","type":"education","lineage":["https://openalex.org/I184843921"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jie Wang","raw_affiliation_strings":["Engineering Research Center of Intelligent Rehabilitation, Ministry of Education, Tianjin, China","School of Artificial Intelligence, Hebei University of Technology, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-8613-3976","affiliations":[{"raw_affiliation_string":"Engineering Research Center of Intelligent Rehabilitation, Ministry of Education, Tianjin, China","institution_ids":["https://openalex.org/I1327237609"]},{"raw_affiliation_string":"School of Artificial Intelligence, Hebei University of Technology, Tianjin, China","institution_ids":["https://openalex.org/I184843921"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053974811","display_name":"Tengyu Zhang","orcid":"https://orcid.org/0009-0007-5929-3310"},"institutions":[{"id":"https://openalex.org/I4210133824","display_name":"National Research Center for Rehabilitation Technical Aids","ror":"https://ror.org/03c6k3q87","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210098389","https://openalex.org/I4210127390","https://openalex.org/I4210133824"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tengyu Zhang","raw_affiliation_strings":["National Research Center for Rehabilitation Technical Aids, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Research Center for Rehabilitation Technical Aids, Beijing, China","institution_ids":["https://openalex.org/I4210133824"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100372236","display_name":"Xue Li","orcid":"https://orcid.org/0000-0002-8889-260X"},"institutions":[{"id":"https://openalex.org/I184843921","display_name":"Hebei University of Technology","ror":"https://ror.org/018hded08","country_code":"CN","type":"education","lineage":["https://openalex.org/I184843921"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xue Li","raw_affiliation_strings":["School of Artificial Intelligence, Hebei University of Technology, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence, Hebei University of Technology, Tianjin, China","institution_ids":["https://openalex.org/I184843921"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100739254"],"corresponding_institution_ids":["https://openalex.org/I1327237609","https://openalex.org/I184843921"],"apc_list":null,"apc_paid":null,"fwci":1.3656,"has_fulltext":false,"cited_by_count":27,"citation_normalized_percentile":{"value":0.79075587,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"234","issue":"10","first_page":"1120","last_page":"1132"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9923999905586243,"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":0.9898999929428101,"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/swing","display_name":"Swing","score":0.8247310519218445},{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.8050052523612976},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.7990513443946838},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7684717774391174},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7438492774963379},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.5119749307632446},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.48640894889831543},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4336434602737427},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.43262043595314026},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4292006194591522},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4001508355140686},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2970615327358246},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.23316556215286255},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.19239956140518188},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.18974119424819946},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.0939454734325409},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.0831497311592102},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.08308148384094238}],"concepts":[{"id":"https://openalex.org/C65655974","wikidata":"https://www.wikidata.org/wiki/Q14867674","display_name":"Swing","level":2,"score":0.8247310519218445},{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.8050052523612976},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.7990513443946838},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7684717774391174},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7438492774963379},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.5119749307632446},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.48640894889831543},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4336434602737427},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.43262043595314026},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4292006194591522},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4001508355140686},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2970615327358246},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.23316556215286255},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.19239956140518188},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.18974119424819946},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0939454734325409},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0831497311592102},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.08308148384094238},{"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/0959651820932026","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0959651820932026","pdf_url":null,"source":{"id":"https://openalex.org/S4210196624","display_name":"Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering","issn_l":"0959-6518","issn":["0959-6518","2041-3041"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.6800000071525574,"display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G1810065860","display_name":null,"funder_award_id":"F2017202119","funder_id":"https://openalex.org/F4320322163","funder_display_name":"Natural Science Foundation of Hebei Province"},{"id":"https://openalex.org/G3202267004","display_name":null,"funder_award_id":"220056","funder_id":"https://openalex.org/F4320336591","funder_display_name":"Hebei Province Graduate Innovation Funding Project"},{"id":"https://openalex.org/G3661644949","display_name":null,"funder_award_id":"61703135","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7825642661","display_name":null,"funder_award_id":"61703134 61803143","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/F4320322163","display_name":"Natural Science Foundation of Hebei Province","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320336591","display_name":"Hebei Province Graduate Innovation Funding Project","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W52656517","https://openalex.org/W2002529332","https://openalex.org/W2005505157","https://openalex.org/W2009825854","https://openalex.org/W2063492206","https://openalex.org/W2104992636","https://openalex.org/W2464813316","https://openalex.org/W2465761559","https://openalex.org/W2512493417","https://openalex.org/W2519421541","https://openalex.org/W2613688818","https://openalex.org/W2744805186","https://openalex.org/W2770518097","https://openalex.org/W2770778261","https://openalex.org/W2792109742","https://openalex.org/W2801779985","https://openalex.org/W2808873682","https://openalex.org/W3099340829","https://openalex.org/W4205408647"],"related_works":["https://openalex.org/W2775126497","https://openalex.org/W3001932158","https://openalex.org/W2352721902","https://openalex.org/W4280557536","https://openalex.org/W3041903163","https://openalex.org/W4200040658","https://openalex.org/W1964338957","https://openalex.org/W2080881660","https://openalex.org/W4210615191","https://openalex.org/W2006838911"],"abstract_inverted_index":{"The":[0,187],"lower":[1,9,137,211],"limb":[2,10,138],"exoskeleton":[3,139,213],"provides":[4],"assistance":[5],"by":[6],"following":[7],"the":[8,23,34,38,42,51,54,68,84,91,107,111,117,123,141,145,158,163,167,192,197,201,224,229],"joints\u2019":[11],"desired":[12,85],"motion":[13,216],"trajectory.":[14],"However,":[15],"angle":[16,70,86,146,198],"control":[17,67,169,193],"is":[18,45,63,78,103,120,126,149,176,179],"not":[19,79],"enough":[20],"to":[21,66,82,89,105,129,156],"meet":[22],"requirements":[24],"in":[25,57,110,140,200],"some":[26],"special":[27],"circumstances":[28],"such":[29],"as":[30],"encountering":[31,220],"obstacles.":[32],"In":[33,97],"swing":[35,112,142],"phase":[36],"of":[37,93,115,136,203],"attached":[39],"leg":[40],"with":[41,172],"exoskeleton,":[43],"there":[44],"a":[46,100,134,152,173],"different":[47,58],"contact":[48,72,95,160],"force":[49,73,161],"between":[50],"sole":[52],"and":[53,71,122,132,183,222],"road":[55,59],"surface":[56],"conditions.":[60],"Therefore,":[61],"it":[62,77],"particularly":[64],"important":[65],"joint":[69],"simultaneously,":[74],"that":[75,191,210],"is,":[76],"only":[80],"necessary":[81],"follow":[83,196],"but":[87],"also":[88],"minimize":[90],"influence":[92],"external":[94,205],"force.":[96],"this":[98],"article,":[99],"novel":[101],"scheme":[102],"proposed":[104],"adjust":[106,215],"trajectory":[108,217,226],"dynamically":[109],"phase.":[113,143],"First":[114],"all,":[116],"physical":[118],"model":[119,135],"streamlined":[121],"Lagrangian":[124],"principle":[125],"carried":[127],"out":[128],"dynamic":[130],"analysis":[131],"established":[133],"Furthermore,":[144],"dynamics":[147],"equation":[148],"transformed":[150],"into":[151],"Cartesian":[153],"coordinate":[154],"system":[155,194],"calculate":[157],"end":[159],"for":[162,181],"impedance":[164,168],"model.":[165],"Finally,":[166],"strategy":[170],"together":[171],"disturbance":[174],"observer":[175],"designed":[177],"which":[178],"suitable":[180],"nonlinear":[182],"strong":[184],"coupling":[185],"characteristics.":[186],"simulation":[188],"result":[189],"shows":[190,209],"can":[195,214],"accurately":[199],"condition":[202],"minimizing":[204],"constraints.":[206],"Hardware":[207],"experiment":[208],"extremity":[212],"actively":[218],"when":[219],"obstacles":[221],"complete":[223],"movement":[225],"tracking":[227],"at":[228],"same":[230],"time.":[231]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":4}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
