{"id":"https://openalex.org/W4294691764","doi":"https://doi.org/10.23919/acc53348.2022.9867590","title":"A Switched Systems Approach for Closed-loop Control of a Lower-Limb Cable-Driven Exoskeleton","display_name":"A Switched Systems Approach for Closed-loop Control of a Lower-Limb Cable-Driven Exoskeleton","publication_year":2022,"publication_date":"2022-06-08","ids":{"openalex":"https://openalex.org/W4294691764","doi":"https://doi.org/10.23919/acc53348.2022.9867590"},"language":"en","primary_location":{"id":"doi:10.23919/acc53348.2022.9867590","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc53348.2022.9867590","pdf_url":null,"source":{"id":"https://openalex.org/S4363607732","display_name":"2022 American Control Conference (ACC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 American Control Conference (ACC)","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/A5023822285","display_name":"Chen-Hao Chang","orcid":"https://orcid.org/0000-0003-2822-2353"},"institutions":[{"id":"https://openalex.org/I70983195","display_name":"Syracuse University","ror":"https://ror.org/025r5qe02","country_code":"US","type":"education","lineage":["https://openalex.org/I70983195"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Chen-Hao Chang","raw_affiliation_strings":["Syracuse University,Department of Mechanical and Aerospace Engineering,Syracuse,NY,USA,13244"],"affiliations":[{"raw_affiliation_string":"Syracuse University,Department of Mechanical and Aerospace Engineering,Syracuse,NY,USA,13244","institution_ids":["https://openalex.org/I70983195"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069833995","display_name":"Jonathan Casas","orcid":"https://orcid.org/0000-0003-4248-7913"},"institutions":[{"id":"https://openalex.org/I70983195","display_name":"Syracuse University","ror":"https://ror.org/025r5qe02","country_code":"US","type":"education","lineage":["https://openalex.org/I70983195"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jonathan Casas","raw_affiliation_strings":["Syracuse University,Department of Mechanical and Aerospace Engineering,Syracuse,NY,USA,13244"],"affiliations":[{"raw_affiliation_string":"Syracuse University,Department of Mechanical and Aerospace Engineering,Syracuse,NY,USA,13244","institution_ids":["https://openalex.org/I70983195"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090858931","display_name":"Victor H. Duenas","orcid":"https://orcid.org/0000-0002-7893-8117"},"institutions":[{"id":"https://openalex.org/I70983195","display_name":"Syracuse University","ror":"https://ror.org/025r5qe02","country_code":"US","type":"education","lineage":["https://openalex.org/I70983195"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Victor H. Duenas","raw_affiliation_strings":["Syracuse University,Department of Mechanical and Aerospace Engineering,Syracuse,NY,USA,13244"],"affiliations":[{"raw_affiliation_string":"Syracuse University,Department of Mechanical and Aerospace Engineering,Syracuse,NY,USA,13244","institution_ids":["https://openalex.org/I70983195"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5023822285"],"corresponding_institution_ids":["https://openalex.org/I70983195"],"apc_list":null,"apc_paid":null,"fwci":1.603,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.83358479,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"4341","last_page":"4346"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9994999766349792,"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":0.9994999766349792,"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":0.9921000003814697,"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/T10925","display_name":"Spinal Cord Injury Research","score":0.9851999878883362,"subfield":{"id":"https://openalex.org/subfields/2734","display_name":"Pathology and Forensic Medicine"},"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/control-theory","display_name":"Control theory (sociology)","score":0.7781955003738403},{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.7442299723625183},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6269767880439758},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5838898420333862},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4620693325996399},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.46145614981651306},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46083739399909973},{"id":"https://openalex.org/keywords/feed-forward","display_name":"Feed forward","score":0.4305885434150696},{"id":"https://openalex.org/keywords/electric-motor","display_name":"Electric motor","score":0.42644476890563965},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.41197001934051514},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.30219680070877075},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.2656571865081787},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.23715505003929138},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15331825613975525},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1095176637172699},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.07603341341018677}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7781955003738403},{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.7442299723625183},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6269767880439758},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5838898420333862},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4620693325996399},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.46145614981651306},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46083739399909973},{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.4305885434150696},{"id":"https://openalex.org/C176871988","wikidata":"https://www.wikidata.org/wiki/Q72313","display_name":"Electric motor","level":2,"score":0.42644476890563965},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.41197001934051514},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.30219680070877075},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2656571865081787},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.23715505003929138},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15331825613975525},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1095176637172699},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.07603341341018677},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"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/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/acc53348.2022.9867590","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc53348.2022.9867590","pdf_url":null,"source":{"id":"https://openalex.org/S4363607732","display_name":"2022 American Control Conference (ACC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 American Control Conference (ACC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6200000047683716,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W575905749","https://openalex.org/W1552094772","https://openalex.org/W1670737740","https://openalex.org/W1998235755","https://openalex.org/W2020317642","https://openalex.org/W2028278123","https://openalex.org/W2077804228","https://openalex.org/W2109987654","https://openalex.org/W2123546047","https://openalex.org/W2139402663","https://openalex.org/W2160060605","https://openalex.org/W2618163766","https://openalex.org/W2901258812","https://openalex.org/W2995255336","https://openalex.org/W3001673068","https://openalex.org/W3102385017","https://openalex.org/W3107239624","https://openalex.org/W3111786811","https://openalex.org/W3168495289"],"related_works":["https://openalex.org/W2002316083","https://openalex.org/W2082214929","https://openalex.org/W2080054201","https://openalex.org/W2022367125","https://openalex.org/W1897196146","https://openalex.org/W2165402508","https://openalex.org/W1671880007","https://openalex.org/W1964045440","https://openalex.org/W2090796144","https://openalex.org/W2060190500"],"abstract_inverted_index":{"Cable-driven":[0],"exoskeletons":[1],"are":[2,37],"light-weight":[3],"devices":[4],"that":[5],"can":[6,23],"provide":[7,53],"joint":[8,44,103],"torques":[9],"to":[10,52,81,98,109,113,126,140,171,195],"assist":[11],"or":[12,117],"augment":[13],"human":[14],"function":[15],"during":[16],"locomotion.":[17],"However,":[18],"cable":[19,54,83],"mechanisms":[20],"actuating":[21],"joints":[22],"experience":[24],"a":[25,65,73,78],"slacking":[26],"behavior,":[27],"slow":[28],"response,":[29],"and":[30,56,77,85,152,162],"counteracting":[31],"forces,":[32],"if":[33],"the":[34,61,89,100,110,120,128,131,135,141,145,154,190],"electric":[35,68,155],"motors":[36,69,156],"not":[38],"accurately":[39],"controlled.":[40],"To":[41,148],"prevent":[42],"undesired":[43],"motion,":[45],"feedforward":[46],"control":[47,62,75,122,177],"strategies":[48],"have":[49],"been":[50],"developed":[51,170],"tension":[55,129],"release.":[57],"In":[58],"this":[59],"paper,":[60],"design":[63],"of":[64,67,130,144,192],"pair":[66],"is":[70,96,107,124,169],"segregated":[71],"into":[72],"joint-level":[74],"loop":[76,80],"low-level":[79,121],"adjust":[82,127],"tensions":[84],"apply":[86],"torque":[87],"about":[88],"knee":[90,102],"joint.":[91],"A":[92,165],"robust":[93],"sliding-mode":[94],"controller":[95],"designed":[97,125],"track":[99],"desired":[101],"kinematic":[104],"trajectory,":[105],"which":[106],"assigned":[108],"lead":[111,146,161],"motor":[112,193],"achieve":[114,149],"leg":[115,150],"flexion":[116],"extension.":[118],"Concurrently,":[119],"objective":[123],"other":[132],"motor,":[133,137],"called":[134],"follower":[136,163],"in":[138],"proportion":[139],"angular":[142],"position":[143],"motor.":[147,164],"extension":[151],"flexion,":[153],"switch":[157],"their":[158],"roles":[159],"between":[160],"Lyapunov-based":[166],"stability":[167],"analysis":[168,184],"ensure":[172],"exponential":[173,197],"tracking":[174],"for":[175],"both":[176],"objectives.":[178],"Moreover,":[179],"an":[180,186],"average":[181],"dwell":[182],"time":[183],"computes":[185],"upper":[187],"bound":[188],"on":[189],"number":[191],"switches":[194],"preserve":[196],"tracking.":[198]},"counts_by_year":[{"year":2023,"cited_by_count":5}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}