{"id":"https://openalex.org/W4309455861","doi":"https://doi.org/10.3389/fnbot.2022.1007324","title":"Design and torque control base on neural network PID of a variable stiffness joint for rehabilitation robot","display_name":"Design and torque control base on neural network PID of a variable stiffness joint for rehabilitation robot","publication_year":2022,"publication_date":"2022-11-18","ids":{"openalex":"https://openalex.org/W4309455861","doi":"https://doi.org/10.3389/fnbot.2022.1007324","pmid":"https://pubmed.ncbi.nlm.nih.gov/36467565"},"language":"en","primary_location":{"id":"doi:10.3389/fnbot.2022.1007324","is_oa":true,"landing_page_url":"https://doi.org/10.3389/fnbot.2022.1007324","pdf_url":"https://www.frontiersin.org/articles/10.3389/fnbot.2022.1007324/pdf","source":{"id":"https://openalex.org/S115606517","display_name":"Frontiers in Neurorobotics","issn_l":"1662-5218","issn":["1662-5218"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Neurorobotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.frontiersin.org/articles/10.3389/fnbot.2022.1007324/pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5006869576","display_name":"Bingshan Hu","orcid":"https://orcid.org/0000-0001-6760-9417"},"institutions":[{"id":"https://openalex.org/I148128674","display_name":"University of Shanghai for Science and Technology","ror":"https://ror.org/00ay9v204","country_code":"CN","type":"education","lineage":["https://openalex.org/I148128674"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Bingshan Hu","raw_affiliation_strings":["Institute of Rehabilitation Engineering and Technology, University of Shanghai for Science and Technology, Shanghai, China","Shanghai Engineering Research Center of Assistive Devices, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Institute of Rehabilitation Engineering and Technology, University of Shanghai for Science and Technology, Shanghai, China","institution_ids":["https://openalex.org/I148128674"]},{"raw_affiliation_string":"Shanghai Engineering Research Center of Assistive Devices, Shanghai, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005594885","display_name":"Binghao Mao","orcid":null},"institutions":[{"id":"https://openalex.org/I148128674","display_name":"University of Shanghai for Science and Technology","ror":"https://ror.org/00ay9v204","country_code":"CN","type":"education","lineage":["https://openalex.org/I148128674"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Binghao Mao","raw_affiliation_strings":["Institute of Rehabilitation Engineering and Technology, University of Shanghai for Science and Technology, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Institute of Rehabilitation Engineering and Technology, University of Shanghai for Science and Technology, Shanghai, China","institution_ids":["https://openalex.org/I148128674"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110516350","display_name":"Sheng Lu","orcid":"https://orcid.org/0009-0001-2570-0690"},"institutions":[{"id":"https://openalex.org/I148128674","display_name":"University of Shanghai for Science and Technology","ror":"https://ror.org/00ay9v204","country_code":"CN","type":"education","lineage":["https://openalex.org/I148128674"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Sheng Lu","raw_affiliation_strings":["Institute of Rehabilitation Engineering and Technology, University of Shanghai for Science and Technology, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Institute of Rehabilitation Engineering and Technology, University of Shanghai for Science and Technology, Shanghai, China","institution_ids":["https://openalex.org/I148128674"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050061802","display_name":"Hongliu Yu","orcid":"https://orcid.org/0000-0001-6886-5498"},"institutions":[{"id":"https://openalex.org/I148128674","display_name":"University of Shanghai for Science and Technology","ror":"https://ror.org/00ay9v204","country_code":"CN","type":"education","lineage":["https://openalex.org/I148128674"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongliu Yu","raw_affiliation_strings":["Institute of Rehabilitation Engineering and Technology, University of Shanghai for Science and Technology, Shanghai, China","Shanghai Engineering Research Center of Assistive Devices, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Institute of Rehabilitation Engineering and Technology, University of Shanghai for Science and Technology, Shanghai, China","institution_ids":["https://openalex.org/I148128674"]},{"raw_affiliation_string":"Shanghai Engineering Research Center of Assistive Devices, Shanghai, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5006869576"],"corresponding_institution_ids":["https://openalex.org/I148128674"],"apc_list":{"value":2950,"currency":"USD","value_usd":2950},"apc_paid":{"value":2950,"currency":"USD","value_usd":2950},"fwci":0.7332,"has_fulltext":true,"cited_by_count":9,"citation_normalized_percentile":{"value":0.66054169,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"16","issue":null,"first_page":"1007324","last_page":"1007324"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9878000020980835,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9781000018119812,"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/stiffness","display_name":"Stiffness","score":0.7664575576782227},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.7205791473388672},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.6876758337020874},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6583496928215027},{"id":"https://openalex.org/keywords/joint-stiffness","display_name":"Joint stiffness","score":0.6260462403297424},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4964352250099182},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4218732416629791},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.31120565533638},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2962290048599243},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.19887793064117432},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1887657642364502},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1347993016242981},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09679532051086426}],"concepts":[{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.7664575576782227},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.7205791473388672},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.6876758337020874},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6583496928215027},{"id":"https://openalex.org/C2781415944","wikidata":"https://www.wikidata.org/wiki/Q559210","display_name":"Joint stiffness","level":3,"score":0.6260462403297424},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4964352250099182},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4218732416629791},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.31120565533638},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2962290048599243},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.19887793064117432},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1887657642364502},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1347993016242981},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09679532051086426},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3389/fnbot.2022.1007324","is_oa":true,"landing_page_url":"https://doi.org/10.3389/fnbot.2022.1007324","pdf_url":"https://www.frontiersin.org/articles/10.3389/fnbot.2022.1007324/pdf","source":{"id":"https://openalex.org/S115606517","display_name":"Frontiers in Neurorobotics","issn_l":"1662-5218","issn":["1662-5218"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Neurorobotics","raw_type":"journal-article"},{"id":"pmid:36467565","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/36467565","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in neurorobotics","raw_type":null},{"id":"pmh:oai:doaj.org/article:0a98e92dc8614b32854fd0d0f8b3dc8f","is_oa":true,"landing_page_url":"https://doaj.org/article/0a98e92dc8614b32854fd0d0f8b3dc8f","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Frontiers in Neurorobotics, Vol 16 (2022)","raw_type":"article"},{"id":"pmh:oai:pubmedcentral.nih.gov:9715741","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/9715741","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Front Neurorobot","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3389/fnbot.2022.1007324","is_oa":true,"landing_page_url":"https://doi.org/10.3389/fnbot.2022.1007324","pdf_url":"https://www.frontiersin.org/articles/10.3389/fnbot.2022.1007324/pdf","source":{"id":"https://openalex.org/S115606517","display_name":"Frontiers in Neurorobotics","issn_l":"1662-5218","issn":["1662-5218"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Neurorobotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1067742266","display_name":null,"funder_award_id":"2020YFC2005804","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G2036296608","display_name":null,"funder_award_id":"20ZR1437800","funder_id":"https://openalex.org/F4320309612","funder_display_name":"Natural Science Foundation of Shanghai"},{"id":"https://openalex.org/G60569180","display_name":null,"funder_award_id":"2020YFC2005800","funder_id":"https://openalex.org/F4320309612","funder_display_name":"Natural Science Foundation of Shanghai"},{"id":"https://openalex.org/G7952079487","display_name":null,"funder_award_id":"2020YFC2005800","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"}],"funders":[{"id":"https://openalex.org/F4320309612","display_name":"Natural Science Foundation of Shanghai","ror":null},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4309455861.pdf","grobid_xml":"https://content.openalex.org/works/W4309455861.grobid-xml"},"referenced_works_count":32,"referenced_works":["https://openalex.org/W1265723838","https://openalex.org/W1996385583","https://openalex.org/W2001537057","https://openalex.org/W2013178032","https://openalex.org/W2017514441","https://openalex.org/W2033353238","https://openalex.org/W2034224351","https://openalex.org/W2051681843","https://openalex.org/W2073136132","https://openalex.org/W2108425554","https://openalex.org/W2113899190","https://openalex.org/W2121658418","https://openalex.org/W2127482115","https://openalex.org/W2131106602","https://openalex.org/W2164553222","https://openalex.org/W2165623272","https://openalex.org/W2173194528","https://openalex.org/W2530942961","https://openalex.org/W2539629017","https://openalex.org/W2546602463","https://openalex.org/W2563055630","https://openalex.org/W2765113199","https://openalex.org/W2804790641","https://openalex.org/W2823393592","https://openalex.org/W2888213161","https://openalex.org/W2896988832","https://openalex.org/W3082793744","https://openalex.org/W3094234392","https://openalex.org/W3193700645","https://openalex.org/W3197508060","https://openalex.org/W3207594049","https://openalex.org/W4254120036"],"related_works":["https://openalex.org/W2083759350","https://openalex.org/W3133687580","https://openalex.org/W2021098562","https://openalex.org/W1566538768","https://openalex.org/W1897710365","https://openalex.org/W2317038355","https://openalex.org/W2942851934","https://openalex.org/W4386883573","https://openalex.org/W2116005591","https://openalex.org/W2736573057"],"abstract_inverted_index":{"Variable":[0],"stiffness":[1,27,39,52,60,93,110],"joints":[2,111,130],"have":[3],"been":[4],"gradually":[5],"applied":[6],"in":[7,49,112,135],"rehabilitation":[8,32],"robots":[9],"because":[10],"of":[11,69,75,91,108,115],"their":[12],"intrinsic":[13],"compliance":[14],"and":[15,58,118,131],"greater":[16],"ability":[17],"to":[18,87],"adjust":[19],"mechanical":[20],"stiffness.":[21],"This":[22],"paper":[23],"designs":[24],"a":[25,55],"variable":[26,38,51,92,109],"joint":[28,35],"for":[29],"upper":[30],"limb":[31],"training.":[33],"The":[34,45],"adopts":[36],"the":[37,50,59,65,70,73,89,104,113,119,129],"principle":[40],"based":[41],"special":[42],"curved":[43],"surface.":[44],"trapezoidal":[46],"lead":[47],"screw":[48],"module":[53],"has":[54],"self-locking":[56],"function,":[57],"can":[61,101,124],"be":[62,125],"maintained":[63],"without":[64],"continuous":[66],"output":[67],"torque":[68,90,105],"motor.":[71],"In":[72],"aspect":[74],"control,":[76],"back":[77],"propagation":[78],"(BP)":[79],"neural":[80],"network":[81],"PID":[82],"control":[83,88,99,106,132],"strategy":[84],"is":[85],"used":[86],"joint.":[94],"Experiments":[95],"show":[96],"that":[97],"this":[98,136],"method":[100],"effectively":[102],"improve":[103],"performance":[107],"case":[114],"low":[116],"stiffness,":[117],"isotonic":[120],"centripetal":[121],"resistance":[122],"training":[123],"realized":[126],"by":[127],"using":[128],"methods":[133],"designed":[134],"paper.":[137]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
