{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,21]],"date-time":"2025-12-21T21:16:43Z","timestamp":1766351803201,"version":"3.41.0"},"reference-count":49,"publisher":"Springer Science and Business Media LLC","issue":"1","license":[{"start":{"date-parts":[[2017,1,27]],"date-time":"2017-01-27T00:00:00Z","timestamp":1485475200000},"content-version":"unspecified","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2017,7]]},"DOI":"10.1007\/s10846-017-0491-z","type":"journal-article","created":{"date-parts":[[2017,1,27]],"date-time":"2017-01-27T14:39:10Z","timestamp":1485527950000},"page":"59-80","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":11,"title":["On-line Walking Speed Control in Human-Powered Exoskeleton Systems Based on Dual Reaction Force Sensors"],"prefix":"10.1007","volume":"87","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-6522-1758","authenticated-orcid":false,"given":"Abusabah","family":"I. A. Ahmed","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hong","family":"Cheng","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhang","family":"Liangwei","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Mugahid","family":"Omer","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xichuan","family":"Lin","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2017,1,27]]},"reference":[{"key":"491_CR1","doi-asserted-by":"crossref","unstructured":"Tonietti, G., Schiavi, R., Bicchi, A.: Design and Control of a Variable Stiffness Actuator for Safe and Fast Physical Human-Robot Interaction. International Conference on Robotics and Automation, 526\u2013531 (2005)","DOI":"10.1109\/ROBOT.2005.1570172"},{"key":"491_CR2","doi-asserted-by":"crossref","unstructured":"Hogan, N.: Impedance Control: An Approach to Manipulation. American Control Conference, 304\u2013313 (1984)","DOI":"10.23919\/ACC.1984.4788393"},{"key":"491_CR3","doi-asserted-by":"crossref","unstructured":"Miller, L.M., Rosen, J.: Comparison of Multi-Sensor Admittance Control in Joint Space and Task Space for a Seven Degree of Freedom Upper Limb Exoskeleton In: Proceedings of the 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, pp. 70\u201375 (2010)","DOI":"10.1109\/BIOROB.2010.5628069"},{"key":"491_CR4","doi-asserted-by":"crossref","unstructured":"Okunev, V., Nierhoff, T., Hirche, S.: Human-preference-based Control Design: Adaptive Robot Admittance Control for Physical Human-Robot Interaction. The 21st IEEE International Symposium on Robot and Human Interactive Communication, 443\u2013448 (2012)","DOI":"10.1109\/ROMAN.2012.6343792"},{"key":"491_CR5","doi-asserted-by":"crossref","unstructured":"Lee, B.K., Lee, H.D., Lee, J.y., Shin, K., Han, J.S., Han, C.S.: Development of Dynamic Model-based Controller for Upper Limb Exoskeleton Robot. 2012 IEEE International Conference on Robotics and Automation, 3173\u20133178 (2012)","DOI":"10.1109\/ICRA.2012.6224675"},{"key":"491_CR6","doi-asserted-by":"crossref","unstructured":"Yu, W., Rosen, J., Li, X.: PID Admittance Control for an Upper Limb Exoskeleton. American Control Conference, 1124\u20131129 (2011)","DOI":"10.1109\/CDC.2010.5716985"},{"key":"491_CR7","doi-asserted-by":"crossref","unstructured":"Augugliaro, F., D\u2019Andrea, R.: Admittance Control for Physical Human-Quadrocopter Interaction. European Control Conference, 1805\u20131810 (2013)","DOI":"10.23919\/ECC.2013.6669643"},{"key":"491_CR8","doi-asserted-by":"crossref","unstructured":"Oda, M., Zhu, C., Suzuki, M., Luo, X., Watanabe, H., Yan, Y.: Admittance Based Control of Wheelchair Typed Omnidirectional Robot for Walking Support and Power Assistance. 19th IEEE International Symposium on Robot and Human Interactive Communication, 159\u2013164 (2010)","DOI":"10.1109\/ROMAN.2010.5598681"},{"key":"491_CR9","doi-asserted-by":"crossref","unstructured":"Tran, H.T., Cheng, H., Duong, M.K., Zheng, H.: Fuuzy-based Impedance Regulation for Control of the Coupled Human-Exoskeleton System. IEEE International Conference on Robotics and Biomimetics, 986\u2013992 (2014)","DOI":"10.1109\/ROBIO.2014.7090461"},{"key":"491_CR10","first-page":"57","volume":"12","author":"HT Tran","year":"2014","unstructured":"Tran, H.T., Cheng, H., Lin, X., Huang, R.: The Relationship between Physical Human-Exoskeleton Interaction and Dynamic Factors: Using a Learning Approach for Control Applications. Science China Information Science 12, 57 (2014)","journal-title":"Science China Information Science"},{"issue":"5","key":"491_CR11","doi-asserted-by":"crossref","first-page":"253","DOI":"10.1016\/0268-0033(95)00068-2","volume":"11","author":"TS Keller","year":"1996","unstructured":"Keller, T.S., Weisberger, A.M., Ray, J.L., Hasan, S.S., Shiavi, R.G., Spengler, D.M.: Relationship between vertical ground reaction force and speed during walking, slow jogging, and running. Clin. Biomech. 11(5), 253\u2013259 (1996)","journal-title":"Clin. Biomech."},{"key":"491_CR12","unstructured":"Amor, H.B., Neumann, G., Kamthe, S., Kroemer, O., Peters, J.: Interaction Primitives for Human-Robot Cooperation Tasks In: IEEE International Conference on Robotics and Automation (ICRA), pp. 2831\u20132837 (2014)"},{"issue":"4","key":"491_CR13","doi-asserted-by":"crossref","first-page":"24","DOI":"10.1109\/MRA.2011.2181676","volume":"19","author":"S Ikemoto","year":"2012","unstructured":"Ikemoto, S., Amor, H.B., Minato, T., Jung, B., Ishiguro, H.: Physical Human\u00dcRobot Interaction: Mutual Learning and Adaptation. IEEE Robot. Autom. Mag. 19(4), 24\u201335 (2012)","journal-title":"IEEE Robot. Autom. Mag."},{"key":"491_CR14","doi-asserted-by":"crossref","unstructured":"De Rossi, S.M.M., Lenzi, T., Vitiello, N., Donati, M., Persichetti, A., Giovacchini, F., Vecchi, F., Carrozza, M.C.: Development of an in-shoe pressure-sensitive device for gait analysis In: 33rd Annual International Conference of the IEEE EMBS, pp. 5637\u20135640 (2011)","DOI":"10.1109\/IEMBS.2011.6091364"},{"key":"491_CR15","doi-asserted-by":"crossref","first-page":"10240","DOI":"10.3390\/s101110240","volume":"10","author":"T Liu","year":"2010","unstructured":"Liu, T., Inoue, Y., Shibata, K.: A Wearable Ground Reaction Force Sensor System and Its Application to the Measurement of Extrinsic Gait Variability. Sensors 10, 10240\u201310255 (2010)","journal-title":"Sensors"},{"key":"491_CR16","doi-asserted-by":"crossref","first-page":"1705","DOI":"10.3390\/s140101705","volume":"14","author":"M Hassan","year":"2014","unstructured":"Hassan, M., Kadone, H., Suzuki, K., Sankai, Y.: Wearable Gait Measurement System with an Instrumented Cane for Exoskeleton Control. Sensors 14, 1705\u20131722 (2014)","journal-title":"Sensors"},{"issue":"75","key":"491_CR17","doi-asserted-by":"crossref","first-page":"75","DOI":"10.1177\/0278364907074472","volume":"26","author":"H Kazerooni","year":"2007","unstructured":"Kazerooni, H., Chu, A., Steger, R.: That Which Does Not Stabilize, Will Only Make Us Stronger. Int. J. Robot. Res. 26(75), 75\u201389 (2007)","journal-title":"Int. J. Robot. Res."},{"key":"491_CR18","doi-asserted-by":"crossref","first-page":"1073","DOI":"10.3390\/s140101073","volume":"14","author":"S Crea","year":"2014","unstructured":"Crea, S., Donati, M., De Rossi, S.M.M., Oddo, C.M., Vitiello, N.: A Wireless Flexible Sensorized Insole for Gait Analysis. Sensors 14, 1073\u20131093 (2014)","journal-title":"Sensors"},{"key":"491_CR19","doi-asserted-by":"crossref","unstructured":"Righetti, L., Ijspeert, A.J.: Programmable Central Pattern Generators: an application to biped locomotion control In: Proceedings of the 2006 IEEE International Conference on Robotics and Automation, pp. 1585\u20131590 (2006)","DOI":"10.1109\/ROBOT.2006.1641933"},{"key":"491_CR20","doi-asserted-by":"crossref","unstructured":"Liu, C., Chen, Y., Zhang, J., Chen, Q.: CPG Driven Locomotion Control of Quadruped Robot. IEEE International Conference on Systems, Man, and Cybernetics, 2368\u20132373 (2009)","DOI":"10.1109\/ICSMC.2009.5346399"},{"issue":"2","key":"491_CR21","doi-asserted-by":"crossref","first-page":"269","DOI":"10.1016\/j.physd.2006.02.009","volume":"216","author":"L Righetti","year":"2005","unstructured":"Righetti, L., Buchli, J., Ijspeert, A.: Dynamic hebbian learning in adaptive frequency oscillators. Physica D: Nonlinear Phenomena 216(2), 269\u2013281 (2005)","journal-title":"Physica D: Nonlinear Phenomena"},{"issue":"5-6","key":"491_CR22","doi-asserted-by":"crossref","first-page":"561","DOI":"10.1177\/0278364906065505","volume":"25","author":"H Kazerooni","year":"2006","unstructured":"Kazerooni, H., Steger, R., Huang, L.: Hybrid Control of the Berkeley Lower Extremity Exoskeleton (BLEEX). Int. J. Robot. Res. 25(5-6), 561\u2013573 (2006)","journal-title":"Int. J. Robot. Res."},{"key":"491_CR23","doi-asserted-by":"crossref","unstructured":"Lee, S., Sankai, Y.: Power Assist Control for Walking Aid with HAL-3 Based on EMG and Impedance Adjustment around Knee Joint. International Conference on Intelligent Robots and Systems, 1499\u20131504 (2002)","DOI":"10.1109\/IRDS.2002.1043967"},{"key":"491_CR24","doi-asserted-by":"crossref","unstructured":"Yang, Z., Zhu, Y., Yang, X., Zhang, Y.: Impedance control of exoskeleton suit based on adaptive rbf neural network In: International conference on intelligent human-machine systems and cybernetics, pp. 182\u201396187 (2009)","DOI":"10.1109\/IHMSC.2009.54"},{"key":"491_CR25","first-page":"1","volume":"5","author":"N Harischandra","year":"2011","unstructured":"Harischandra, N., Knuesel, J., Kozlov, A., Bicanski, A., Cabelguen, J.M., Ijspeert, A., Ekeberg, O.: Sensory feedback play sasignificant role in generating walking gait and in gait transition in salamanders a simulation study. Neurorobotics 5, 1\u201313 (2011)","journal-title":"Neurorobotics"},{"key":"491_CR26","doi-asserted-by":"crossref","first-page":"25","DOI":"10.1007\/978-3-642-14743-2_3","volume":"66","author":"Y Sankai","year":"2011","unstructured":"Sankai, Y.: HAL: Hybrid Assistive Limb Based on Cybernics. Robot. Res. 66, 25\u201334 (2011)","journal-title":"Robot. Res."},{"key":"491_CR27","doi-asserted-by":"crossref","unstructured":"Suzuki, K., Kawamura, Y., Hayashi, T., Sakurai, T., Hasegawa, Y., Sankai, Y.: Intention-Based Walking Support for Paraplegia Patient In: IEEE International Conference on Systems, Man and Cybernetics, pp. 2707\u20132713 (2005)","DOI":"10.1109\/ICSMC.2005.1571559"},{"key":"491_CR28","volume-title":"Design and Control of a Robotic Exoskeleton for Gait Rehabilitation","author":"M Bortole","year":"2013","unstructured":"Bortole, M.: Design and Control of a Robotic Exoskeleton for Gait Rehabilitation. Master thesis,Universidad de Madrid, Spain,Madrid (2013)"},{"issue":"62","key":"491_CR29","first-page":"1","volume":"9","author":"J Yoon","year":"2012","unstructured":"Yoon, J., ParkEmail, H.n, Damiano, D.L.: A novel walking speed estimation scheme and its application to treadmill control for gait rehabilitation. J. Neuroeng. Rehabil. 9(62), 1\u201313 (2012)","journal-title":"J. Neuroeng. Rehabil."},{"key":"491_CR30","doi-asserted-by":"crossref","unstructured":"Yu, H., Wang, D., Yang, C., Lee, K.: A Walking Monitoring Shoe System for Simultaneous Plantar-force Measurement and Gait-phase Detection In: IEEE\/ASME International Conference on Advanced Intelligent Mechatronics, pp. 207\u2013212 (2010)","DOI":"10.1109\/AIM.2010.5695868"},{"key":"491_CR31","doi-asserted-by":"crossref","unstructured":"Forner-Cordero, A., Koopman, H.J.F.M., van der Helm, F.C.T.: Inverse dynamics calculations during gait with restricted ground reaction force information from pressure insoles. Gait Posture 23(2), 189\u2013199 (2006)","DOI":"10.1016\/j.gaitpost.2005.02.002"},{"key":"491_CR32","doi-asserted-by":"crossref","first-page":"289","DOI":"10.1007\/978-3-642-22606-9_31","volume":"168","author":"S Mondal","year":"2011","unstructured":"Mondal, S., Nandy, A., Verma, C., Shukla, S., Saxena, N., Chakraborty, P., Nandi, G.C.: Modeling a Central Pattern Generator to Generate the Biped Locomotion of a Bipedal Robot Using Rayleigh Oscillators. Communications in Computer and Information Science 168, 289\u2013300 (2011)","journal-title":"Communications in Computer and Information Science"},{"issue":"4","key":"491_CR33","doi-asserted-by":"crossref","first-page":"612","DOI":"10.3901\/CJME.2011.04.612","volume":"24","author":"Z Jiaqi","year":"2011","unstructured":"Jiaqi, Z., Masayoshi, T., Qijun, C., Chengju, L.: Dynamic Walking of AIBO with Hopf Oscillators. Chinese Journal of Mechanical Engineering 24(4), 612\u2013617 (2011)","journal-title":"Chinese Journal of Mechanical Engineering"},{"key":"491_CR34","first-page":"185","volume":"1269","author":"H Inada","year":"2004","unstructured":"Inada, H., Ihii, K.: A Bipedal Walk Using Central Pattern Generator (CPG). Brain Science and Engineering, Kyushu Institute of Technology,Japn 1269, 185\u20136188 (2004)","journal-title":"Brain Science and Engineering, Kyushu Institute of Technology,Japn"},{"key":"491_CR35","doi-asserted-by":"crossref","unstructured":"Tsuchiya, K., Aoi, S., Tsujita, K.: Locomotion Control of a Biped Locomotion Robot using Nonlinear Oscillators, IEEE\/RSJ Intl. Conference on Intelligent Robots and Systems, 1745\u20131750 (2003)","DOI":"10.1109\/IROS.2003.1248896"},{"key":"491_CR36","doi-asserted-by":"crossref","first-page":"267","DOI":"10.1023\/A:1008136816806","volume":"23","author":"P Arena","year":"1999","unstructured":"Arena, P., Fortuna, L., Branciforter, M.: Realization of a Reaction-Diffusion CNN Algorithm for Locomotion Control in an Hexapode Robot. J. VLSI Sig. Proc. 23, 267\u2013280 (1999)","journal-title":"J. VLSI Sig. Proc."},{"issue":"14","key":"491_CR37","doi-asserted-by":"crossref","first-page":"2201","DOI":"10.1177\/1077546311429150","volume":"18","author":"C Pinto","year":"2011","unstructured":"Pinto, C., Machado, J.A.T.: Forced van der Pol oscillator of complex order. J. Vib. Control. 18 (14), 2201\u20132209 (2011). ENOC, Rome, Italy, 2011","journal-title":"J. Vib. Control."},{"key":"491_CR38","doi-asserted-by":"crossref","unstructured":"Righetti, L., Ijspeert, A.J.: Programmable Central Pattern Generators: an application to biped locomotion control In: IEEE International Conference on Robotics and Automation, pp. 1585\u20131590 (2006)","DOI":"10.1109\/ROBOT.2006.1641933"},{"key":"491_CR39","doi-asserted-by":"crossref","first-page":"849","DOI":"10.1002\/jor.1100070611","volume":"7","author":"MP Kadaba","year":"1989","unstructured":"Kadaba, M.P., Ramakrishnan, H.K., Wootten, M.E., Gainey, J., Gorton, G., Cochran, G.V.B.: Repeatability of kinematic, kinetic, and electromyographic data in normal adult gait. J. Orthop. Res. 7, 849\u2013860 (1989)","journal-title":"J. Orthop. Res."},{"key":"491_CR40","first-page":"119","volume":"3","author":"DW Grieve","year":"1968","unstructured":"Grieve, D.W.: Gait Patterns and the Speed of Walking. Biomed. Eng. 3, 119\u2013122 (1968)","journal-title":"Biomed. Eng."},{"key":"491_CR41","first-page":"264","volume":"123","author":"AD Kuo","year":"2001","unstructured":"Kuo, A.D.: A simple model predicts the step length-speed relationship in human walking. J. Biomed. Eng. 123, 264\u2013269 (2001)","journal-title":"J. Biomed. Eng."},{"key":"491_CR42","doi-asserted-by":"crossref","first-page":"153","DOI":"10.3109\/03093649609164437","volume":"20","author":"E Isakov","year":"1996","unstructured":"Isakov, E., Burger, H., Krajnik, J., Grgoric, M., Marincek, C.: Influence of speed on gait parameters and on symmetry in transtibial amputees. Prosthetics Orthot. Int. 20, 153\u2013158 (1996)","journal-title":"Prosthetics Orthot. Int."},{"issue":"4","key":"491_CR43","doi-asserted-by":"crossref","first-page":"236","DOI":"10.2519\/jospt.1997.25.4.236","volume":"25","author":"TM Cook","year":"1997","unstructured":"Cook, T.M., Farrell, K.P., Carey, I.A., Gibbs, l.M., Wiger, G.E.: Effects of Restricted Knee Flexion and Walking Speed on the Vertical Ground Reaction Force During Gait. J. Orthop. Sports Phys. Ther. 25(4), 236\u2013244 (1997)","journal-title":"J. Orthop. Sports Phys. Ther."},{"key":"491_CR44","doi-asserted-by":"crossref","DOI":"10.1007\/978-1-84628-690-2","volume-title":"Simulation-based Algorithms for Markov Decision Processes","author":"HS Chang","year":"2007","unstructured":"Chang, H.S., Fu, M.C., Hu, J.q., Marcus, S.I.: Simulation-based Algorithms for Markov Decision Processes. Springer-Verlag, London Limited (2007)"},{"issue":"7","key":"491_CR45","doi-asserted-by":"crossref","first-page":"929","DOI":"10.1080\/03650340.2014.981163","volume":"61","author":"MM Khasraghi","year":"2015","unstructured":"Khasraghi, M.M., Sefidkouhi, M.A.G., Valipour, M.: Simulation of open- and closed-end border irrigation systems using SIRMOD. Archives Of Agronomy And Soil Science 61(7), 929\u2013941 (2015)","journal-title":"Archives Of Agronomy And Soil Science"},{"issue":"1","key":"491_CR46","doi-asserted-by":"crossref","first-page":"51","DOI":"10.1504\/IJHST.2015.069279","volume":"5","author":"M Valipour","year":"2015","unstructured":"Valipour, M., Sefidkouhi, M.A.G., Eslamian, S.: Surface irrigation simulation models: a review. Int. J. Hydrology Science and Technology 5(1), 51\u201370 (2015)","journal-title":"Int. J. Hydrology Science and Technology"},{"issue":"7","key":"491_CR47","doi-asserted-by":"crossref","first-page":"433","DOI":"10.1016\/j.jhydrol.2012.11.017","volume":"476","author":"M Valipour","year":"2013","unstructured":"Valipour, M., Banihabib, M.E., Behbahani, S.M.R.: Comparison of the ARMA, ARIMA, and the autoregressive artificial neural network models in forecasting the monthly inflow of Dez dam reservoir. J. Hydrol. 476(7), 433\u2013441 (2013)","journal-title":"J. Hydrol."},{"issue":"1","key":"491_CR48","doi-asserted-by":"crossref","first-page":"91","DOI":"10.1002\/met.1533","volume":"23","author":"M Valipour","year":"2016","unstructured":"Valipour, M.: Optimization of neural networks for precipitation analysis in a humid region to detect drought and wet year alarms. Meteorol. Appl. 23(1), 91\u2013100 (2016)","journal-title":"Meteorol. Appl."},{"issue":"12","key":"491_CR49","first-page":"125","volume":"4","author":"M Valipour","year":"2012","unstructured":"Valipour, M.: Sprinkle and Trickle Irrigation System Design Using Tapered Pipes for Pressure Loss Adjusting. J. Agric. Sci. 4(12), 125\u2013133 (2012)","journal-title":"J. Agric. Sci."}],"container-title":["Journal of Intelligent & Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10846-017-0491-z\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-017-0491-z.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-017-0491-z.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,14]],"date-time":"2025-06-14T20:44:39Z","timestamp":1749933879000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10846-017-0491-z"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2017,1,27]]},"references-count":49,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2017,7]]}},"alternative-id":["491"],"URL":"https:\/\/doi.org\/10.1007\/s10846-017-0491-z","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"type":"print","value":"0921-0296"},{"type":"electronic","value":"1573-0409"}],"subject":[],"published":{"date-parts":[[2017,1,27]]}}}