{"id":"https://openalex.org/W2900808824","doi":"https://doi.org/10.1631/fitee.1601667","title":"Physical human-robot interaction estimation based control scheme for a hydraulically actuated exoskeleton designed for power amplification","display_name":"Physical human-robot interaction estimation based control scheme for a hydraulically actuated exoskeleton designed for power amplification","publication_year":2018,"publication_date":"2018-09-01","ids":{"openalex":"https://openalex.org/W2900808824","doi":"https://doi.org/10.1631/fitee.1601667","mag":"2900808824"},"language":"en","primary_location":{"id":"doi:10.1631/fitee.1601667","is_oa":false,"landing_page_url":"https://doi.org/10.1631/fitee.1601667","pdf_url":null,"source":{"id":"https://openalex.org/S4210189857","display_name":"Frontiers of Information Technology & Electronic Engineering","issn_l":"2095-9184","issn":["2095-9184","2095-9230"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers of Information Technology &amp; Electronic 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/A5066707378","display_name":"Yi Long","orcid":"https://orcid.org/0000-0003-4083-0589"},"institutions":[{"id":"https://openalex.org/I4210127074","display_name":"Zhongshan Hospital","ror":"https://ror.org/032x22645","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210127074"]},{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yi Long","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, 150001, China","Zhongshan Torch Group Co., Ltd., Zhongshan, 528400, China","State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","Zhongshan Torch Group Co., Ltd., Zhongshan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, 150001, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"Zhongshan Torch Group Co., Ltd., Zhongshan, 528400, China","institution_ids":["https://openalex.org/I4210127074"]},{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"Zhongshan Torch Group Co., Ltd., Zhongshan, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091883161","display_name":"Zhijiang Du","orcid":"https://orcid.org/0000-0003-3044-9733"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhi-jiang Du","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, 150001, China","State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, 150001, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100432929","display_name":"Weidong Wang","orcid":"https://orcid.org/0000-0002-1236-8350"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei-dong Wang","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, 150001, China","State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, 150001, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101987942","display_name":"Long He","orcid":"https://orcid.org/0000-0001-7582-3501"},"institutions":[{"id":"https://openalex.org/I3174185376","display_name":"China South Industries Group (China)","ror":"https://ror.org/04n0f2b96","country_code":"CN","type":"company","lineage":["https://openalex.org/I3174185376"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Long He","raw_affiliation_strings":["Weapon Equipment Research Institute, China South Industries Group Corporation, Beijing, 102202, China","Weapon Equipment Research Institute, China South Industries Group Corporation, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Weapon Equipment Research Institute, China South Industries Group Corporation, Beijing, 102202, China","institution_ids":["https://openalex.org/I3174185376"]},{"raw_affiliation_string":"Weapon Equipment Research Institute, China South Industries Group Corporation, Beijing, China","institution_ids":["https://openalex.org/I3174185376"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042538359","display_name":"Xiwang Mao","orcid":"https://orcid.org/0009-0009-6567-4085"},"institutions":[{"id":"https://openalex.org/I3174185376","display_name":"China South Industries Group (China)","ror":"https://ror.org/04n0f2b96","country_code":"CN","type":"company","lineage":["https://openalex.org/I3174185376"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xi-wang Mao","raw_affiliation_strings":["Weapon Equipment Research Institute, China South Industries Group Corporation, Beijing, 102202, China","Weapon Equipment Research Institute, China South Industries Group Corporation, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Weapon Equipment Research Institute, China South Industries Group Corporation, Beijing, 102202, China","institution_ids":["https://openalex.org/I3174185376"]},{"raw_affiliation_string":"Weapon Equipment Research Institute, China South Industries Group Corporation, Beijing, China","institution_ids":["https://openalex.org/I3174185376"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068941811","display_name":"Wei Dong","orcid":"https://orcid.org/0000-0002-1211-6444"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Wei Dong","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, 150001, China","State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, 150001, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5068941811"],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":0.5411,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.64816547,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"19","issue":"9","first_page":"1076","last_page":"1085"},"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":0.9950000047683716,"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":0.9829000234603882,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.9024731516838074},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6680384278297424},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.6371654868125916},{"id":"https://openalex.org/keywords/powered-exoskeleton","display_name":"Powered exoskeleton","score":0.6117430925369263},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.597468912601471},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5779834985733032},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5659711956977844},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5484573841094971},{"id":"https://openalex.org/keywords/smoothing","display_name":"Smoothing","score":0.5126975774765015},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4757116436958313},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.46311700344085693},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.41548240184783936},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.41205066442489624},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.39471372961997986},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.35954880714416504},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.26723599433898926},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1748155951499939},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.16804686188697815},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.07735508680343628}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.9024731516838074},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6680384278297424},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.6371654868125916},{"id":"https://openalex.org/C45391945","wikidata":"https://www.wikidata.org/wiki/Q938523","display_name":"Powered exoskeleton","level":3,"score":0.6117430925369263},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.597468912601471},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5779834985733032},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5659711956977844},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5484573841094971},{"id":"https://openalex.org/C3770464","wikidata":"https://www.wikidata.org/wiki/Q775963","display_name":"Smoothing","level":2,"score":0.5126975774765015},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4757116436958313},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.46311700344085693},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.41548240184783936},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.41205066442489624},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.39471372961997986},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.35954880714416504},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.26723599433898926},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1748155951499939},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.16804686188697815},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.07735508680343628},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"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/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","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":1,"locations":[{"id":"doi:10.1631/fitee.1601667","is_oa":false,"landing_page_url":"https://doi.org/10.1631/fitee.1601667","pdf_url":null,"source":{"id":"https://openalex.org/S4210189857","display_name":"Frontiers of Information Technology & Electronic Engineering","issn_l":"2095-9184","issn":["2095-9184","2095-9230"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers of Information Technology &amp; Electronic Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.7900000214576721}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W639661492","https://openalex.org/W1511210304","https://openalex.org/W1596960200","https://openalex.org/W1956237300","https://openalex.org/W1969298474","https://openalex.org/W1987889949","https://openalex.org/W2035060404","https://openalex.org/W2047448918","https://openalex.org/W2068769351","https://openalex.org/W2077396358","https://openalex.org/W2092623288","https://openalex.org/W2102046115","https://openalex.org/W2105566135","https://openalex.org/W2109700072","https://openalex.org/W2117191131","https://openalex.org/W2119600630","https://openalex.org/W2124709174","https://openalex.org/W2133392559","https://openalex.org/W2138300314","https://openalex.org/W2144781570","https://openalex.org/W2149669704","https://openalex.org/W2162438232","https://openalex.org/W2298526555","https://openalex.org/W2510569194","https://openalex.org/W2527445210","https://openalex.org/W2534710317","https://openalex.org/W2620901083","https://openalex.org/W2975461012","https://openalex.org/W4205467692","https://openalex.org/W4238824928","https://openalex.org/W4255855846","https://openalex.org/W6635653541","https://openalex.org/W6681158678","https://openalex.org/W6738938623"],"related_works":["https://openalex.org/W1989011507","https://openalex.org/W2908002960","https://openalex.org/W4386159943","https://openalex.org/W2808226217","https://openalex.org/W2062010076","https://openalex.org/W2780323031","https://openalex.org/W4388283394","https://openalex.org/W2015794229","https://openalex.org/W2120000215","https://openalex.org/W2909774674"],"abstract_inverted_index":{"We":[0],"proposed":[1,47,124,183],"a":[2,160,169],"lower":[3],"extremity":[4],"exoskeleton":[5,44,95,149],"for":[6,48,62,136],"power":[7],"amplification":[8],"that":[9],"perceives":[10],"intended":[11],"human":[12,26,79,116,153,161],"motion":[13],"via":[14],"humanexoskeleton":[15],"interaction":[16,52],"signals":[17],"measured":[18],"by":[19,103,121],"biomedical":[20],"or":[21],"mechanical":[22],"sensors,":[23],"and":[24,34,65,126],"estimates":[25],"gait":[27,80,117,129,154],"trajectories":[28],"to":[29,77,145,150],"implement":[30],"corresponding":[31],"actions":[32],"quickly":[33],"accurately.":[35],"In":[36],"this":[37],"study,":[38],"torque":[39,54,76],"sensors":[40],"mounted":[41],"on":[42,112,159,165],"the":[43,67,71,74,78,89,93,104,115,123,128,133,137,147,152,166,173,179,182],"links":[45],"are":[46],"obtaining":[49],"physical":[50],"human-robot":[51],"(pHRI)":[53],"information":[55],"directly.":[56],"A":[57,139],"Kalman":[58],"smoother":[59],"is":[60,82,86,101,130,143],"adopted":[61],"eliminating":[63],"noise":[64],"smoothing":[66],"signal":[68],"data.":[69],"Simultaneously,":[70],"mapping":[72,85],"from":[73,88],"pHRI":[75],"trajectory":[81],"defined.":[83],"The":[84,98],"derived":[87],"real-time":[90],"state":[91],"of":[92,181],"robotic":[94,148,174],"during":[96],"movement.":[97],"walking":[99],"phase":[100,113],"identified":[102],"threshold":[105],"approach":[106],"using":[107],"ground":[108],"reaction":[109],"force.":[110],"Based":[111],"identification,":[114],"can":[118],"be":[119],"estimated":[120],"applying":[122],"algorithm,":[125],"then":[127],"regarded":[131],"as":[132],"reference":[134],"input":[135],"controller.":[138],"proportional-integral-derivative":[140],"control":[141],"strategy":[142],"constructed":[144],"drive":[146],"follow":[151],"trajectory.":[155],"Experiments":[156],"were":[157],"performed":[158],"subject":[162],"who":[163],"walked":[164],"floor":[167],"at":[168],"natural":[170],"speed":[171],"wearing":[172],"exoskeleton.":[175],"Experimental":[176],"results":[177],"show":[178],"effectiveness":[180],"strategy.":[184]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
