{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,9]],"date-time":"2026-04-09T09:33:32Z","timestamp":1775727212584,"version":"3.50.1"},"reference-count":55,"publisher":"Springer Science and Business Media LLC","issue":"1","license":[{"start":{"date-parts":[[2025,2,11]],"date-time":"2025-02-11T00:00:00Z","timestamp":1739232000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by-nc-nd\/4.0"},{"start":{"date-parts":[[2025,2,11]],"date-time":"2025-02-11T00:00:00Z","timestamp":1739232000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by-nc-nd\/4.0"}],"funder":[{"name":"The study on Load-bearing and Moving Support Exoskeleton Robot Key Technology and Typical Application","award":["2017YFB1120502"],"award-info":[{"award-number":["2017YFB1120502"]}]},{"DOI":"10.13039\/501100017700","name":"Henan Provincial Science and Technology Research Project","doi-asserted-by":"publisher","award":["242102220108"],"award-info":[{"award-number":["242102220108"]}],"id":[{"id":"10.13039\/501100017700","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"DOI":"10.1007\/s10846-025-02230-7","type":"journal-article","created":{"date-parts":[[2025,2,11]],"date-time":"2025-02-11T12:34:06Z","timestamp":1739277246000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":13,"title":["A Lower Limb Exoskeleton Adaptive Control Method Based on Model-free Reinforcement Learning and Improved Dynamic Movement Primitives"],"prefix":"10.1007","volume":"111","author":[{"given":"Liping","family":"Huang","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5714-1969","authenticated-orcid":false,"given":"Jianbin","family":"Zheng","sequence":"additional","affiliation":[]},{"given":"Yifan","family":"Gao","sequence":"additional","affiliation":[]},{"given":"Qiuzhi","family":"Song","sequence":"additional","affiliation":[]},{"given":"Yali","family":"Liu","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2025,2,11]]},"reference":[{"issue":"3","key":"2230_CR1","doi-asserted-by":"publisher","first-page":"1410","DOI":"10.1109\/TRO.2021.3133137","volume":"38","author":"FNG Daniel","year":"2022","unstructured":"Daniel, F.N.G., Christopher, M., Andreas, C., Sethu, V.: Human-in-the-Loop Optimization of Exoskeleton Assistance Via Online Simulation of Metabolic Cost. IEEE Trans. Rob. 38(3), 1410\u20131429 (2022)","journal-title":"IEEE Trans. Rob."},{"issue":"3","key":"2230_CR2","doi-asserted-by":"publisher","first-page":"1230","DOI":"10.1109\/TRO.2021.3104244","volume":"38","author":"W Huo","year":"2022","unstructured":"Huo, W., Moon, H., Alouane, M.A., Bonnet, V.B., Huang, J., Amirat, Y., Vaidyanathan, R., Mohammed, S.: Impedance Modulation Control of a Lower-Limb Exoskeleton to Assist Sit-to-Stand Movements. IEEE Trans. Rob. 38(3), 1230\u20131249 (2022)","journal-title":"IEEE Trans. Rob."},{"issue":"7555","key":"2230_CR3","doi-asserted-by":"publisher","first-page":"212","DOI":"10.1038\/nature14288","volume":"522","author":"SH Collins","year":"2015","unstructured":"Collins, S.H., Wiggin, M.B., Sawicki, G.S.: Reducing the energy cost of human walking using an unpowered exoskeleton. Nature 522(7555), 212\u2013235 (2015)","journal-title":"Nature"},{"issue":"3","key":"2230_CR4","doi-asserted-by":"publisher","first-page":"763","DOI":"10.1109\/TRO.2020.3034017","volume":"37","author":"G Aguirre-Ollinger","year":"2021","unstructured":"Aguirre-Ollinger, G., Yu, H.: Lower-Limb Exoskeleton With Variable-Structure Series Elastic Actuators: Phase-Synchronized Force Control for Gait Asymmetry Correction. IEEE Trans. Rob. 37(3), 763\u2013779 (2021)","journal-title":"IEEE Trans. Rob."},{"issue":"2","key":"2230_CR5","doi-asserted-by":"publisher","first-page":"570","DOI":"10.1109\/TRO.2019.2956341","volume":"36","author":"W Huo","year":"2020","unstructured":"Huo, W., Alouane, M.A., Amirat, Y., Mohammed, S.: Force Control of SEA-Based Exoskeletons for Multimode Human-Robot Interactions. IEEE Trans. Rob. 36(2), 570\u2013577 (2020)","journal-title":"IEEE Trans. Rob."},{"issue":"6","key":"2230_CR6","doi-asserted-by":"publisher","first-page":"2193","DOI":"10.1109\/TRO.2021.3073836","volume":"37","author":"F Lanotte","year":"2021","unstructured":"Lanotte, F., McKinney, Z., Grazi, L., Chen, B., Crea, S., Vitiello, N.: Adaptive Control Method for Dynamic Synchronization of Wearable Robotic Assistance to Discrete Movements: Validation for Use Case of Lifting Tasks. IEEE Trans. Rob. 37(6), 2193\u20132209 (2021)","journal-title":"IEEE Trans. Rob."},{"issue":"3","key":"2230_CR7","doi-asserted-by":"publisher","first-page":"1395","DOI":"10.1109\/TRO.2022.3144955","volume":"38","author":"K-W Park","year":"2022","unstructured":"Park, K.-W., Choi, J., Kong, K.: Iterative Learning of Human Behavior for Adaptive Gait Pattern Adjustment of a Powered Exoskeleton. IEEE Trans. Rob. 38(3), 1395\u20131409 (2022)","journal-title":"IEEE Trans. Rob."},{"key":"2230_CR8","doi-asserted-by":"publisher","first-page":"83","DOI":"10.1016\/j.arcontrol.2022.04.003","volume":"53","author":"Y Sun","year":"2022","unstructured":"Sun, Y., Tang, Y., Zheng, J., Dong, D., Chen, X., Bai, L.: From sensing to control of lower limb exoskeleton: a systematic review. Annu. Rev. Control. 53, 83\u201396 (2022)","journal-title":"Annu. Rev. Control."},{"key":"2230_CR9","doi-asserted-by":"crossref","unstructured":"Seo, K., Hyung, S., Choi, B.K., Lee, Y., Shim, Y.: A new adaptive frequency oscillator for gait assistance. In: 2015 IEEE International Conference on Robotics and Automation (ICRA), Seattle, Washington, USA, 5565\u20135571 (2015)","DOI":"10.1109\/ICRA.2015.7139977"},{"issue":"1","key":"2230_CR10","doi-asserted-by":"publisher","first-page":"19","DOI":"10.1109\/JAS.2021.1004272","volume":"9","author":"R Wu","year":"2022","unstructured":"Wu, R., Yao, Z., Si, J., Huang, H.: Robotic knee tracking control to mimic the intact human knee profile based on actor-critic reinforcement learning. IEEE-CAA J. Autom. Sinica 9(1), 19\u201330 (2022)","journal-title":"IEEE-CAA J. Autom. Sinica"},{"issue":"7","key":"2230_CR11","doi-asserted-by":"publisher","first-page":"2189","DOI":"10.1017\/S0263574721001600","volume":"40","author":"Rose","year":"2022","unstructured":"Rose, Lowell, Bazzocchi, M., Nejat, G.: A model-free deep reinforcement learning approach for control of exoskeleton gait patterns. Robotica 40(7), 2189\u20132214 (2022)","journal-title":"Robotica"},{"issue":"6","key":"2230_CR12","doi-asserted-by":"publisher","first-page":"3128","DOI":"10.1109\/TMECH.2021.3053562","volume":"26","author":"J Zhou","year":"2021","unstructured":"Zhou, J., Li, Z., Li, X., Wang, X., Song, R.: Human-robot cooperation control based on trajectory deformation algorithm for a lower limb rehabilitation robot. IEEE\/ASME Trans. Mechatron. 26(6), 3128\u20133138 (2021)","journal-title":"IEEE\/ASME Trans. Mechatron."},{"issue":"11","key":"2230_CR13","doi-asserted-by":"publisher","first-page":"8693","DOI":"10.1109\/TNNLS.2022.3152255","volume":"34","author":"Z Chen","year":"2022","unstructured":"Chen, Z., Guo, Q., Li, T., Yan, Y., Jiang, D.: Gait prediction and variable admittance control for lower limb exoskeleton with measurement delay and extended-state-observer. IEEE Trans. Neural Netw. Learn. Syst. 34(11), 8693\u20138706 (2022)","journal-title":"IEEE Trans. Neural Netw. Learn. Syst."},{"issue":"2","key":"2230_CR14","doi-asserted-by":"publisher","first-page":"355","DOI":"10.1007\/s42235-021-00142-4","volume":"19","author":"B Singh","year":"2022","unstructured":"Singh, B., Vijayvargiya, A., Kumar, R.: Kinematic modeling for biped robot gait trajectory using machine learning techniques. J. Bionic Eng. 19(2), 355\u2013369 (2022)","journal-title":"J. Bionic Eng."},{"key":"2230_CR15","doi-asserted-by":"publisher","first-page":"109","DOI":"10.1109\/TNSRE.2022.3217448","volume":"31","author":"W Song","year":"2023","unstructured":"Song, W., Zhao, P., Li, X., Deng, X., Zi, B.: Data-driven design of a six-bar lower-limb rehabilitation mechanism based on gait trajectory prediction. IEEE Trans. Neural Syst. Rehabil. Eng. 31, 109\u2013118 (2023)","journal-title":"IEEE Trans. Neural Syst. Rehabil. Eng."},{"issue":"12","key":"2230_CR16","doi-asserted-by":"publisher","first-page":"13072","DOI":"10.1109\/JSEN.2023.3267490","volume":"23","author":"B Wei","year":"2023","unstructured":"Wei, B., Yi, C., Zhang, S., Guo, H., Zhu, J., Ding, Z., Jiang, F.: Taking locomotion mode as prior: One algorithm-enabled gait events and kinematics prediction on various terrains. IEEE Sensors J. 23(12), 13072\u201313083 (2023)","journal-title":"IEEE Sensors J."},{"issue":"15","key":"2230_CR17","doi-asserted-by":"publisher","first-page":"2470","DOI":"10.1126\/scirobotics.aar5438","volume":"3","author":"Y Ding","year":"2018","unstructured":"Ding, Y., Kim, M., Kuindersma, S., Walsh, C.J.: Human-in-the-loop optimization of hip assistance with a soft exosuit during walking. Sci. Robot. 3(15), 2470\u20139476 (2018)","journal-title":"Sci. Robot."},{"issue":"6344","key":"2230_CR18","doi-asserted-by":"publisher","first-page":"1280","DOI":"10.1126\/science.aal5054","volume":"356","author":"J Zhang","year":"2017","unstructured":"Zhang, J., Fiers, P., Witte, K.A., Jackson, R.W., Poggensee, K.L., Atkeson, C.G., Collins, S.H.: Human-in-the-loop optimization of exoskeleton assistance during walking. Science 356(6344), 1280\u20131284 (2017)","journal-title":"Science"},{"issue":"6","key":"2230_CR19","doi-asserted-by":"publisher","first-page":"747","DOI":"10.1177\/0278364919840415","volume":"38","author":"F Federica","year":"2019","unstructured":"Federica, F., Chiara, T.L., Lorenzo, S., Marcello, B., Cesare, F., Cristian, S.: A variable admittance control strategy for stable physical human\u2013robot interaction. Int. J. Robot. Res. 38(6), 747\u2013765 (2019)","journal-title":"Int. J. Robot. Res."},{"issue":"1","key":"2230_CR20","doi-asserted-by":"publisher","first-page":"127","DOI":"10.1155\/2011\/698079","volume":"8","author":"KM Tsui","year":"2011","unstructured":"Tsui, K.M., Kim Jin, D., Behal, A., Kontak, D., Yanco, H.A.: \u201cI Want That\u201d: Human-in-the-Loop Control of a Wheelchair-Mounted Robotic Arm. Appl. Bionics Biomech. 8(1), 127\u2013147 (2011)","journal-title":"Appl. Bionics Biomech."},{"issue":"8","key":"2230_CR21","doi-asserted-by":"publisher","first-page":"2047","DOI":"10.1162\/089976698300016963","volume":"10","author":"S Schaal","year":"1998","unstructured":"Schaal, S., Atkeson, C.G.: Constructive incremental learning from only local information. Neural Comput. 10(8), 2047\u20132084 (1998)","journal-title":"Neural Comput."},{"key":"2230_CR22","doi-asserted-by":"publisher","first-page":"103900","DOI":"10.1016\/j.robot.2021.103900","volume":"146","author":"M Kasaei","year":"2021","unstructured":"Kasaei, M., Abreu, M., Lau, N., Pereira, A., Reis, L.P.: Robust biped locomotion using deep reinforcement learning on top of an analytical control approach. Robot. Auton. Syst. 146, 103900 (2021)","journal-title":"Robot. Auton. Syst."},{"issue":"2","key":"2230_CR23","doi-asserted-by":"publisher","first-page":"328","DOI":"10.1162\/NECO_a_00393","volume":"25","author":"AJ Ijspeert","year":"2013","unstructured":"Ijspeert, A.J., Nakanishi, J., Hoffmann, H., Pastor, P., Schaal, S.: Dynamical movement primitives: learning attractor models for motor behaviors. Neural Comput. 25(2), 328\u2013373 (2013)","journal-title":"Neural Comput."},{"key":"2230_CR24","doi-asserted-by":"crossref","unstructured":"Ijspeert, A. J., Nakanishi J., Schaal, S.: Movement imitation with nonlinear dynamical systems in humanoid robots. Proceedings 2002 IEEE International Conference on Robotics and Automation (ICRA), Washington, DC, USA, 1398\u20131403 (2002)","DOI":"10.1109\/ROBOT.2002.1014739"},{"issue":"14","key":"2230_CR25","doi-asserted-by":"publisher","first-page":"1775","DOI":"10.1177\/0278364911421511","volume":"30","author":"T Petri\u010d","year":"2011","unstructured":"Petri\u010d, T., Gams, A., Ijspeert, A.J., \u017dlajpah, L.: On-line frequency adaptation and movement imitation for rhythmic robotic tasks. Int. J. Robot. Res. 30(14), 1775\u20131788 (2011)","journal-title":"Int. J. Robot. Res."},{"issue":"6206","key":"2230_CR26","doi-asserted-by":"publisher","first-page":"196","DOI":"10.1126\/science.1254486","volume":"346","author":"AJ Ijspeert","year":"2014","unstructured":"Ijspeert, A.J.: Biorobotics: Using robots to emulate and investigate agile locomotion. Science 346(6206), 196\u2013203 (2014)","journal-title":"Science"},{"issue":"4","key":"2230_CR27","doi-asserted-by":"publisher","first-page":"918","DOI":"10.1016\/j.automatica.2008.11.017","volume":"45","author":"KP Tee","year":"2009","unstructured":"Tee, K.P., Ge, S.S., Tay, E.H.: Barrier Lyapunov functions for the control of output-constrained nonlinear systems. Automatica 45(4), 918\u2013927 (2009)","journal-title":"Automatica"},{"key":"2230_CR28","unstructured":"Ijspeert, A. J., Nakanishi, J., Schaal, S.: Learning rhythmic movements by demonstration using nonlinear oscillators. In: 2002 IEEE\/RSJ International Conference on Intelligent Robots and Systems (ICIRS), Lausanne, Switzerland, 958\u2013963 (2002)"},{"key":"2230_CR29","doi-asserted-by":"publisher","first-page":"584","DOI":"10.1016\/j.ins.2017.09.068","volume":"432","author":"R Huang","year":"2018","unstructured":"Huang, R., Cheng, H., Guo, H., Lin, X., Zhang, J.: Hierarchical learning control with physical human\u00adexoskeleton interaction. Inf. Sci. 432, 584\u2013595 (2018)","journal-title":"Inf. Sci."},{"issue":"14","key":"2230_CR30","doi-asserted-by":"publisher","first-page":"4890","DOI":"10.3390\/app10144890","volume":"10","author":"Y Liu","year":"2020","unstructured":"Liu, Y., Qiang, L., Song, Q., Zhao, M., Guan, X.: Effects of Backpack Loads on Leg Muscle Activation during Slope Walking. Appl. Sci. 10(14), 4890\u20134901 (2020)","journal-title":"Appl. Sci."},{"key":"2230_CR31","doi-asserted-by":"publisher","first-page":"413","DOI":"10.1007\/s12369-021-00794-6","volume":"14","author":"L Huang","year":"2021","unstructured":"Huang, L., Zheng, J., Hu, H.: Online Gait Phase Detection in Complex Environment Based on Distance and Multi-Sensors Information Fusion Using Inertial Measurement Units. Int. J. Soc. Robot. 14, 413\u2013428 (2021)","journal-title":"Int. J. Soc. Robot."},{"issue":"13","key":"2230_CR32","doi-asserted-by":"publisher","first-page":"15114","DOI":"10.1109\/JSEN.2021.3072102","volume":"21","author":"L Huang","year":"2021","unstructured":"Huang, L., Zheng, J., Hu, H.: A Gait Phase Detection Method in Complex Environment Based on DTW-Mean Templates. IEEE Sens. J. 21(13), 15114\u201315123 (2021)","journal-title":"IEEE Sens. J."},{"issue":"20","key":"2230_CR33","doi-asserted-by":"publisher","first-page":"19556","DOI":"10.1109\/JSEN.2022.3201192","volume":"22","author":"J Zheng","year":"2022","unstructured":"Zheng, J., Li, Z., Huang, L., Gao, Y., Wang, B., Peng, M., Wang, Y.: A GMM-DTW based Locomotion Mode Recognition Method in Lower Limb Exoskeleton. IEEE Sens. J. 22(20), 19556\u201319566 (2022)","journal-title":"IEEE Sens. J."},{"key":"2230_CR34","doi-asserted-by":"publisher","first-page":"103935","DOI":"10.1016\/j.robot.2021.103935","volume":"148","author":"M Wu","year":"2022","unstructured":"Wu, M., Taetz, B., He, Y., Bleser, G., Liu, S.: An adaptive learning and control framework based on dynamic movement primitives with application to human\u2013robot handovers. Robot. Auton. Syst. 148, 103935 (2022)","journal-title":"Robot. Auton. Syst."},{"issue":"4","key":"2230_CR35","doi-asserted-by":"publisher","first-page":"79","DOI":"10.1007\/s10846-021-01344-y","volume":"101","author":"M Ginesi","year":"2021","unstructured":"Ginesi, M., Meli, D., Roberti, A., Sansonetto, N., Fiorini, Paolo: Dynamic Movement Primitives: Volumetric Obstacle Avoidance Using Dynamic Potential Functions. J. Intell. Robot. Syst. 101(4), 79\u201398 (2021)","journal-title":"J. Intell. Robot. Syst."},{"key":"2230_CR36","doi-asserted-by":"publisher","first-page":"202","DOI":"10.1016\/j.neucom.2021.04.034","volume":"451","author":"Y Zhang","year":"2021","unstructured":"Zhang, Y., Li, M., Yang, C.: Robot learning system based on dynamic movement primitives and neural network. Neurocomputing 451, 202\u2013214 (2021)","journal-title":"Neurocomputing"},{"key":"2230_CR37","unstructured":"Amor, H. B., Neumann, G., Kamthe, S., Kroemer, O., Peters, J.: Interaction primitives for human-robot cooperation tasks. In: 2014 IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China, 2831\u20132837 (2014)"},{"issue":"4","key":"2230_CR38","doi-asserted-by":"publisher","first-page":"816","DOI":"10.1109\/TRO.2014.2304775","volume":"30","author":"A Gams","year":"2014","unstructured":"Gams, A., Nemec, B., Ijspeert, A.J., Ude, A.: Coulpling Movement Primitives: Interaction with the Environment and Bimanual Tasks. IEEE Transac. Robot. 30(4), 816\u2013830 (2014)","journal-title":"IEEE Transac. Robot."},{"key":"2230_CR39","first-page":"3137","volume":"11","author":"EA Theodorou","year":"2010","unstructured":"Theodorou, E.A., Buchli, J., Schaal, S.: A Generalized Path Integral Control Approach to Reinforcement Learning. J. Mach. Learn. Res. 11, 3137\u20133181 (2010)","journal-title":"J. Mach. Learn. Res."},{"issue":"7","key":"2230_CR40","doi-asserted-by":"publisher","first-page":"820","DOI":"10.1177\/0278364911402527","volume":"30","author":"J Buchli","year":"2011","unstructured":"Buchli, J., Stulp, F., Theodorou, E.A., Schaal, S.: Learning Variable Impedance Control. Int. J. Robot. Res. 30(7), 820\u2013833 (2011)","journal-title":"Int. J. Robot. Res."},{"issue":"4","key":"2230_CR41","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1103\/PhysRevB.95.041101","volume":"95","author":"J Liu","year":"2017","unstructured":"Liu, J., Yang, Q., Zi, Y.M., Liang, F.: Self-learning Monte Carlo method. Phys. Rev. B 95(4), 1\u20135 (2017)","journal-title":"Phys. Rev. B"},{"issue":"1","key":"2230_CR42","first-page":"49","volume":"4","author":"F Stulp","year":"2013","unstructured":"Stulp, F., Olivier, S.: Robot skill learning: From reinforcement learning to evolution strategies. Paladyn J. Behav. Robot. 4(1), 49\u201361 (2013)","journal-title":"Paladyn J. Behav. Robot."},{"key":"2230_CR43","doi-asserted-by":"crossref","unstructured":"Stulp, F., Theodorou, E., Kalakrishnan, M., Pastor, P., Righetti, L., Schaal S.: Learning motion primitive goals for robust manipulation. In: 2011 IEEE\/RSJ International Conference on Intelligent Robots and Systems. (2011)","DOI":"10.1109\/IROS.2011.6048517"},{"issue":"1","key":"2230_CR44","doi-asserted-by":"publisher","first-page":"123","DOI":"10.1007\/s12369-018-0484-5","volume":"11","author":"L Wang","year":"2019","unstructured":"Wang, L., Du, Z., Dong, W., Shen, Y., Zhao, G.: Hierarchical human machine interaction learning for a lower extremity augmentation device. Int. J. Soc. Robot. 11(1), 123\u2013139 (2019)","journal-title":"Int. J. Soc. Robot."},{"key":"2230_CR45","doi-asserted-by":"crossref","unstructured":"Huang, R., Cheng, H., Guo, H., Chen, Q., Lin, X.: Hierarchical Interactive Learning for a Human-Powered Augmentation Lower Exoskeleton. In: 2016 IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden. 257\u2013263 (2016)","DOI":"10.1109\/ICRA.2016.7487142"},{"key":"2230_CR46","doi-asserted-by":"publisher","first-page":"36029","DOI":"10.1109\/ACCESS.2023.3265895","volume":"11","author":"R Zheng","year":"2023","unstructured":"Zheng, R., Yu, Z., Liu, H., Zhao, Z., Chen, J., Jia, L.: Sensitivity Adaptation of Lower-Limb Exoskeleton for Human Performance Augmentation Based on Deep Reinforcement Learning. IEEE Access 11, 36029\u201336040 (2023)","journal-title":"IEEE Access"},{"issue":"2","key":"2230_CR47","doi-asserted-by":"publisher","first-page":"389","DOI":"10.1007\/s10846-020-01200-5","volume":"100","author":"G Song","year":"2020","unstructured":"Song, G., Huang, R., Qiu, J., Cheng, H., Fan, S.: Model-based Control with Interaction Predicting for Human-coupled Lower Exoskeleton Systems. J. Intell. Rob. Syst. 100(2), 389\u2013400 (2020)","journal-title":"J. Intell. Rob. Syst."},{"issue":"4","key":"2230_CR48","doi-asserted-by":"publisher","first-page":"980","DOI":"10.1109\/TMRB.2021.3105141","volume":"3","author":"C Caulcrick","year":"2021","unstructured":"Caulcrick, C., Huo, W., Franco, E., Mohammed, S., Hoult, W., Vaidyanathan, R.: Model Predictive Control for Human-Centred Lower Limb Robotic Assistance. IEEE Transact. Med. Robot. Bionics 3(4), 980\u2013991 (2021)","journal-title":"IEEE Transact. Med. Robot. Bionics"},{"issue":"5","key":"2230_CR49","doi-asserted-by":"publisher","first-page":"3636","DOI":"10.1109\/TMECH.2021.3126674","volume":"27","author":"I Jammeli","year":"2022","unstructured":"Jammeli, I., Chemori, A., Moon, H., Elloumi, S., Mohammed, S.: An Assistive Explicit Model Predictive Control Framework for a Knee Rehabilitation Exoskeleton. IEEE\/ASME Trans. Mechatron. 27(5), 3636\u20133647 (2022)","journal-title":"IEEE\/ASME Trans. Mechatron."},{"issue":"1","key":"2230_CR50","doi-asserted-by":"publisher","first-page":"117","DOI":"10.1186\/s12984-019-0599-4","volume":"16","author":"F Panizzolo","year":"2019","unstructured":"Panizzolo, F., Bolgiani, C., Liddo, L., Annese, E., Marcolin, G.: Reducing the energy cost of walking in older adults using a passive hip flexion device. J. Neuroeng. Rehabil. 16(1), 117\u2013129 (2019)","journal-title":"J. Neuroeng. Rehabil."},{"issue":"4","key":"2230_CR51","doi-asserted-by":"publisher","first-page":"1055","DOI":"10.1109\/TRO.2019.2913318","volume":"35","author":"B Lim","year":"2019","unstructured":"Lim, B., Jang, J., Lee, J., Choi, B., Lee, Y., Shim, Y.: Delayed output feedback control for gait assistance with a robotic hip exoskeleton. IEEE Trans. Rob. 35(4), 1055\u20131062 (2019)","journal-title":"IEEE Trans. Rob."},{"issue":"3","key":"2230_CR52","doi-asserted-by":"publisher","first-page":"3083","DOI":"10.1109\/LRA.2019.2924852","volume":"4","author":"C Khazoom","year":"2019","unstructured":"Khazoom, C., V\u00e9ronneau, C., Bigu\u00e9, J., Grenier, J., Girard, A., Plante, J.: Design and control of a multifunctional ankle exoskeleton powered by magnetorheological actuators to assist walking, jumping and landing. IEEE Robot. Autom. Lett. 4(3), 3083\u20133090 (2019)","journal-title":"IEEE Robot. Autom. Lett."},{"issue":"6454","key":"2230_CR53","doi-asserted-by":"publisher","first-page":"668","DOI":"10.1126\/science.aav7536","volume":"365","author":"J Kim","year":"2019","unstructured":"Kim, J., Lee, G., Heimgartner, R., Revi, D., Karavas, N., Nathanson, D., Galiana, I., Eckert-Erdheim, A., Murphy, P., Perry, D., Menard, N., Choe, D., Malcolm, P., Walsh, C.: Reducing the metabolic rate of walking and running with a versatile, portable exosuit. Science 365(6454), 668\u2013672 (2019)","journal-title":"Science"},{"issue":"17","key":"2230_CR54","first-page":"1","volume":"222","author":"C Simpson","year":"2019","unstructured":"Simpson, C., Welker, C., Uhlrich, S., Sketch, S., Jackson, R., Delp, S., Collins, S., Selinger, J., Hawkes, E.: Connecting the legs with a spring improves human running economy. J. Exp. Biol. 222(17), 1\u201310 (2019)","journal-title":"J. Exp. Biol."},{"issue":"5","key":"2230_CR55","doi-asserted-by":"publisher","first-page":"320","DOI":"10.1123\/jab.2018-0384","volume":"35","author":"M MacLean","year":"2019","unstructured":"MacLean, M., Ferris, D.: Energetics of walking with a robotic knee exoskeleton. J. Appl. Biomech. 35(5), 320\u2013326 (2019)","journal-title":"J. Appl. Biomech."}],"container-title":["Journal of Intelligent & Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-025-02230-7.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s10846-025-02230-7\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-025-02230-7.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,4,6]],"date-time":"2025-04-06T05:49:06Z","timestamp":1743918546000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s10846-025-02230-7"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,2,11]]},"references-count":55,"journal-issue":{"issue":"1","published-online":{"date-parts":[[2025,3]]}},"alternative-id":["2230"],"URL":"https:\/\/doi.org\/10.1007\/s10846-025-02230-7","relation":{},"ISSN":["1573-0409"],"issn-type":[{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,2,11]]},"assertion":[{"value":"4 January 2023","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"15 January 2025","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"11 February 2025","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"Each subject participating in the experiment was informed in detail about the purpose of the experiment before signing the consent form. The experiment was approved by the Evaluation Committee of the Research Institute of Beijing Sport University (Approval number: 2019007H).","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Ethics Approval"}},{"order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Consent to Participate"}},{"value":"The authors affirm that human research participants provided informed consent for publication of their health information or data stored for this research.","order":4,"name":"Ethics","group":{"name":"EthicsHeading","label":"Consent for Publication"}},{"value":"The authors have no relevant financial or nonfinancial interests to disclose.","order":5,"name":"Ethics","group":{"name":"EthicsHeading","label":"Competing Interests"}}],"article-number":"24"}}