{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,18]],"date-time":"2026-07-18T16:05:50Z","timestamp":1784390750544,"version":"3.55.0"},"reference-count":40,"publisher":"Springer Science and Business Media LLC","issue":"3","license":[{"start":{"date-parts":[[2025,4,28]],"date-time":"2025-04-28T00:00:00Z","timestamp":1745798400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2025,4,28]],"date-time":"2025-04-28T00:00:00Z","timestamp":1745798400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"funder":[{"DOI":"10.13039\/501100001809","name":"the National Natural Science Foundation of China","doi-asserted-by":"crossref","award":["61973205"],"award-info":[{"award-number":["61973205"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"crossref"}]},{"DOI":"10.13039\/501100012165","name":"Key Technologies Research and Development Program","doi-asserted-by":"publisher","award":["2018YFC2001600"],"award-info":[{"award-number":["2018YFC2001600"]}],"id":[{"id":"10.13039\/501100012165","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Intel Serv Robotics"],"published-print":{"date-parts":[[2025,5]]},"DOI":"10.1007\/s11370-025-00593-2","type":"journal-article","created":{"date-parts":[[2025,4,28]],"date-time":"2025-04-28T10:31:29Z","timestamp":1745836289000},"page":"567-578","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":3,"title":["Research on an assist-as-needed gait correction control strategy based on admittance control"],"prefix":"10.1007","volume":"18","author":[{"given":"Jie","family":"Wu","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8774-4963","authenticated-orcid":false,"given":"Shuai","family":"Guo","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Fan","family":"Yang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xueting","family":"Wang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Qing","family":"Sun","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xin","family":"Sun","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2025,4,28]]},"reference":[{"key":"593_CR1","doi-asserted-by":"crossref","unstructured":"Katan M, Luft A (2018) Global burden of stroke. In: seminars in neurology, Thieme Medical Publishers","DOI":"10.1055\/s-0038-1649503"},{"issue":"8","key":"593_CR2","doi-asserted-by":"publisher","first-page":"889","DOI":"10.1177\/17474930211019568","volume":"16","author":"MO Owolabi","year":"2021","unstructured":"Owolabi MO et al (2021) The state of stroke services across the globe: report of world stroke organization-world health organization surveys. Int J Stroke 16(8):889\u2013901","journal-title":"Int J Stroke"},{"key":"593_CR3","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1186\/1743-0003-6-20","volume":"6","author":"L Marchal-Crespo","year":"2009","unstructured":"Marchal-Crespo L, Reinkensmeyer DJ (2009) Review of control strategies for robotic movement training after neurologic injury. J Neuroeng Rehabil 6:1\u201315","journal-title":"J Neuroeng Rehabil"},{"key":"593_CR4","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1186\/1743-0003-10-30","volume":"10","author":"M Zhang","year":"2013","unstructured":"Zhang M, Davies TC, Xie S (2013) Effectiveness of robot-assisted therapy on ankle rehabilitation-a systematic review. J Neuroeng Rehabil 10:1\u201316","journal-title":"J Neuroeng Rehabil"},{"key":"593_CR5","doi-asserted-by":"crossref","unstructured":"Liu W, Yin B, Yan B (2016) A survey on the exoskeleton rehabilitation robot for the lower limbs. In: 2016 2nd international conference on control, Automation and Robotics (ICCAR), IEEE","DOI":"10.1109\/ICCAR.2016.7486705"},{"issue":"2","key":"593_CR6","doi-asserted-by":"publisher","first-page":"319","DOI":"10.1017\/S0263574723001431","volume":"42","author":"C Zou","year":"2024","unstructured":"Zou C, Zeng C, Huang R et al (2024) Online gait learning with Assist-As-Needed control strategy for post-stroke rehabilitation exoskeletons. Robotica 42(2):319\u2013331","journal-title":"Robotica"},{"key":"593_CR7","doi-asserted-by":"publisher","DOI":"10.1016\/j.measurement.2020.107765","volume":"159","author":"J Chen","year":"2020","unstructured":"Chen J et al (2020) Parameter identification and adaptive compliant control of rehabilitation exoskeleton based on multiple sensors. Measurement 159:107765","journal-title":"Measurement"},{"key":"593_CR8","doi-asserted-by":"crossref","unstructured":"Banala SK, Agrawal SK, Scholz JP (2007) Active Leg Exoskeleton (ALEX) for gait rehabilitation of motor-impaired patients. In: 2007 IEEE 10th international conference on rehabilitation robotics, IEEE","DOI":"10.1109\/ICORR.2007.4428456"},{"key":"593_CR9","doi-asserted-by":"crossref","unstructured":"Li S, Su C, Huang L et al (2024) Personalized passive training control strategy for a lower limb rehabilitation robot with specified step lengths. In: Intelligent service robotics, pp 1\u201320","DOI":"10.1007\/s11370-024-00576-9"},{"issue":"1","key":"593_CR10","first-page":"3731802","volume":"2017","author":"X Zhang","year":"2017","unstructured":"Zhang X, Yue Z, Wang J (2017) Robotics in lower-limb rehabilitation after stroke. Behav Neurol 2017(1):3731802","journal-title":"Behav Neurol"},{"issue":"3","key":"593_CR11","doi-asserted-by":"publisher","first-page":"380","DOI":"10.1109\/TNSRE.2005.848628","volume":"13","author":"R Riener","year":"2005","unstructured":"Riener R et al (2005) Patient-cooperative strategies for robot-aided treadmill training: first experimental results. IEEE Trans Neural Syst Rehabil Eng 13(3):380\u2013394","journal-title":"IEEE Trans Neural Syst Rehabil Eng"},{"key":"593_CR12","unstructured":"Cai LL et al (2006) Assist-as-needed training paradigms for robotic rehabilitation of spinal cord injuries. In: Proceedings 2006 IEEE international conference on robotics and automation, ICRA 2006, IEEE"},{"key":"593_CR13","doi-asserted-by":"crossref","unstructured":"Fleerkotte BM, Buurke JH, van Asseldonk EHF et al (2019) The effect of assist-as-needed support on metabolic cost during gait training of chronic stroke patients in LOPESII. In: Converging clinical and engineering research on neurorehabilitation III: proceedings of the 4th international conference on neuroRehabilitation (ICNR2018), vol 5. Springer International Publishing, Pisa pp 415-419","DOI":"10.1007\/978-3-030-01845-0_83"},{"key":"593_CR14","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1186\/s12984-020-00800-4","volume":"18","author":"JF Alingh","year":"2021","unstructured":"Alingh JF, Fleerkotte BM, Groen BE et al (2021) Effect of assist-as-needed robotic gait training on the gait pattern post stroke: a randomized controlled trial. J NeuroEng Rehabil 18:1\u201312","journal-title":"J NeuroEng Rehabil"},{"issue":"3","key":"593_CR15","doi-asserted-by":"publisher","first-page":"1025","DOI":"10.1109\/TSMCB.2012.2222374","volume":"43","author":"S Hussain","year":"2013","unstructured":"Hussain S, Xie SQ, Jamwal PK (2013) Adaptive impedance control of a robotic orthosis for gait rehabilitation. IEEE Trans Cybern 43(3):1025\u20131034","journal-title":"IEEE Trans Cybern"},{"issue":"2","key":"593_CR16","doi-asserted-by":"publisher","first-page":"1675","DOI":"10.1109\/TIE.2016.2580123","volume":"64","author":"S Hussain","year":"2017","unstructured":"Hussain S et al (2017) Assist-as-needed control of an intrinsically compliant robotic gait training orthosis. IEEE Trans Ind Electron 64(2):1675\u20131685","journal-title":"IEEE Trans Ind Electron"},{"issue":"1","key":"593_CR17","doi-asserted-by":"publisher","first-page":"2","DOI":"10.1109\/TNSRE.2008.2008280","volume":"17","author":"SK Banala","year":"2009","unstructured":"Banala SK et al (2009) Robot assisted gait training with active leg exoskeleton (ALEX). IEEE Trans Neural Syst Rehabil Eng 17(1):2\u20138","journal-title":"IEEE Trans Neural Syst Rehabil Eng"},{"issue":"2","key":"593_CR18","doi-asserted-by":"publisher","first-page":"216","DOI":"10.1109\/TMECH.2010.2041245","volume":"15","author":"SK Banala","year":"2010","unstructured":"Banala SK et al (2010) Novel gait adaptation and neuromotor training results using an active leg exoskeleton. IEEE\/ASME Trans Mechatron 15(2):216\u2013225","journal-title":"IEEE\/ASME Trans Mechatron"},{"key":"593_CR19","doi-asserted-by":"crossref","unstructured":"Winfree KN, Stegall P, Agrawal SK (2011) Design of a minimally constraining, passively supported gait training exoskeleton: ALEX II. In: 2011 IEEE international conference on rehabilitation robotics, IEEE","DOI":"10.1109\/ICORR.2011.5975499"},{"key":"593_CR20","doi-asserted-by":"crossref","unstructured":"Zanotto D, et al. (2013) Improving transparency of powered exoskeletons using force\/torque sensors on the supporting cuffs. In: 2013 IEEE 13th International Conference on Rehabilitation Robotics (ICORR), IEEE","DOI":"10.1109\/ICORR.2013.6650404"},{"key":"593_CR21","doi-asserted-by":"crossref","unstructured":"Zanotto D, Stegall P, Agrawal SK (2014) Adaptive assist-as-needed controller to improve gait symmetry in robot-assisted gait training. In: 2014 IEEE international conference on robotics and automation (ICRA), IEEE","DOI":"10.1109\/ICRA.2014.6906934"},{"key":"593_CR22","doi-asserted-by":"crossref","unstructured":"Asl HJ, Narikiyo T, Kawanishi M (2018) An assist-as-needed velocity field control scheme for rehabilitation robots. In: 25th IEEE\/RSJ international conference on intelligent robots and systems (IROS), Madrid, SPAIN","DOI":"10.1109\/IROS.2018.8594244"},{"key":"593_CR23","doi-asserted-by":"crossref","unstructured":"Asl HJ, Narikiyo T (2019) An assistive control strategy for rehabilitation robots using velocity field and force field. In: 2019 IEEE 16th international conference on rehabilitation robotics (ICORR), IEEE","DOI":"10.1109\/ICORR.2019.8779551"},{"issue":"1","key":"593_CR24","doi-asserted-by":"publisher","first-page":"3","DOI":"10.1186\/1743-0003-10-3","volume":"10","author":"B Koopman","year":"2013","unstructured":"Koopman B, Van Asseldonk EH, Van Der Kooij H (2013) Selective control of gait subtasks in robotic gait training: foot clearance support in stroke survivors with a powered exoskeleton. J NeuroEng Rehabil 10(1):3","journal-title":"J NeuroEng Rehabil"},{"issue":"18","key":"593_CR25","doi-asserted-by":"publisher","first-page":"6168","DOI":"10.3390\/app10186168","volume":"10","author":"BDM Chaparro-Rico","year":"2020","unstructured":"Chaparro-Rico BDM, Cafolla D, Tortola P et al (2020) Assessing stiffness, joint torque and ROM for paretic and non-paretic lower limbs during the subacute phase of stroke using lokomat tools. Appl Sci 10(18):6168","journal-title":"Appl Sci"},{"key":"593_CR26","doi-asserted-by":"publisher","first-page":"381","DOI":"10.1007\/s11370-019-00289-4","volume":"12","author":"Y Han","year":"2019","unstructured":"Han Y, Zhu S, Zhou Y et al (2019) An admittance controller based on assistive torque estimation for a rehabilitation leg exoskeleton. Intell Serv Robot 12:381\u2013391","journal-title":"Intell Serv Robot"},{"key":"593_CR27","doi-asserted-by":"crossref","unstructured":"Garcia-Hernandez N, Munguia-Angeles C, Parra-Vega V (2024) Assist-as-needed robotic strategy based on velocity fields for enhancing motor training. In: IEEE\/ASME transactions on mechatronics","DOI":"10.1109\/TMECH.2024.3445314"},{"issue":"11","key":"593_CR28","doi-asserted-by":"publisher","first-page":"1113","DOI":"10.3390\/bioengineering11111113","volume":"11","author":"H Yan","year":"2024","unstructured":"Yan H, Zhang F, Li X et al (2024) An Assist-as-Needed control strategy based on a subjective intention decline model. Bioengineering 11(11):1113","journal-title":"Bioengineering"},{"key":"593_CR29","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2020.103667","volume":"134","author":"N Naghavi","year":"2020","unstructured":"Naghavi N et al (2020) Assist-as-needed control of a hip exoskeleton based on a novel strength index\u2019\u2019. Robot Auton Syst 134:103667","journal-title":"Robot Auton Syst"},{"issue":"4","key":"593_CR30","doi-asserted-by":"publisher","first-page":"53","DOI":"10.1007\/s10846-023-01854-x","volume":"107","author":"N Naghavi","year":"2023","unstructured":"Naghavi N et al (2023) Assist-as-needed control of a hip exoskeleton, using central pattern generators in a stride management strategy. J Intell Robot Syst 107(4):53","journal-title":"J Intell Robot Syst"},{"key":"593_CR31","unstructured":"Abbasimoshaei A, Stein T, Rothe T et al. (2020) Design and impedance control of a hydraulic robot for paralyzed people. In: 8th RSI international conference on robotics and mechatronics (ICRoM)"},{"issue":"1","key":"593_CR32","first-page":"129","volume":"20","author":"AR Abbasi Moshaei","year":"2020","unstructured":"Abbasi Moshaei AR, Mohammadi Moghaddam M, Dehghan Neistanak V (2020) Analytical model of hand phalanges desired trajectory for rehabilitation and design a sliding mode controller based on this model. Modares Mech Eng 20(1):129\u2013137","journal-title":"Modares Mech Eng"},{"key":"593_CR33","doi-asserted-by":"crossref","unstructured":"Aichaoui M, Ikhlef A (2024) Model-Free Variable Impedance Control for Upper Limb Rehabilitation Robot. Arabian Journal for Science and Engineering 1\u201317","DOI":"10.1109\/ICEEAC61226.2024.10576407"},{"key":"593_CR34","doi-asserted-by":"crossref","unstructured":"J. Liu and S. Guo (2021) A smart mobile robotic exoskeleton by man-machine interaction signal processing. In: 2021 IEEE international conference on emergency science and information technology (ICESIT), IEEE","DOI":"10.1109\/ICESIT53460.2021.9696766"},{"issue":"1","key":"593_CR35","doi-asserted-by":"publisher","first-page":"6","DOI":"10.1016\/j.gaitpost.2010.08.009","volume":"33","author":"G Bovi","year":"2011","unstructured":"Bovi G et al (2011) A multiple-task gait analysis approach: kinematic, kinetic and EMG reference data for healthy young and adult subjects. Gait Posture 33(1):6\u201313","journal-title":"Gait Posture"},{"key":"593_CR36","doi-asserted-by":"publisher","DOI":"10.1002\/9780470549148","volume-title":"Biomechanics and motor control of human movement","author":"DA Winter","year":"2009","unstructured":"Winter DA (2009) Biomechanics and motor control of human movement. Wiley, Hoboken"},{"issue":"1","key":"593_CR37","doi-asserted-by":"publisher","first-page":"38","DOI":"10.1109\/TNSRE.2009.2033061","volume":"18","author":"A Duschau-Wicke","year":"2010","unstructured":"Duschau-Wicke A et al (2010) Path control: a method for patient-cooperative robot-aided gait rehabilitation. IEEE Trans Neural Syst Rehabil Eng 18(1):38\u201348","journal-title":"IEEE Trans Neural Syst Rehabil Eng"},{"key":"593_CR38","doi-asserted-by":"crossref","unstructured":"Lecours A, Mayer-St-Onge B, Gosselin C (2012) Variable admittance control of a four-degree-of-freedom intelligent assist device. In: 2012 IEEE international conference on robotics and automation, IEEE","DOI":"10.1109\/ICRA.2012.6224586"},{"issue":"11","key":"593_CR39","doi-asserted-by":"publisher","first-page":"996","DOI":"10.1080\/01616412.2017.1364514","volume":"39","author":"Z Wang","year":"2017","unstructured":"Wang Z et al (2017) Post-stroke depression: different characteristics based on follow-up stage and gender-a cohort perspective study from Mainland China. Neurol Res 39(11):996\u20131005","journal-title":"Neurol Res"},{"key":"593_CR40","unstructured":"Aly AAI, Abbasimoshaei A, Kern TA (2022) Developing a VR training environment for fingers rehabilitation. In: 13th International conference on human haptic sensing and touch enabled computer applications (EuroHaptics), pp 331-333"}],"container-title":["Intelligent Service Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11370-025-00593-2.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s11370-025-00593-2\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11370-025-00593-2.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,16]],"date-time":"2025-06-16T10:47:38Z","timestamp":1750070858000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s11370-025-00593-2"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,4,28]]},"references-count":40,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2025,5]]}},"alternative-id":["593"],"URL":"https:\/\/doi.org\/10.1007\/s11370-025-00593-2","relation":{},"ISSN":["1861-2776","1861-2784"],"issn-type":[{"value":"1861-2776","type":"print"},{"value":"1861-2784","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,4,28]]},"assertion":[{"value":"7 September 2024","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"26 February 2025","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"28 April 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":"The authors declare no potential conflict of interest with respect to the research, authorship, and\/or publication of this article.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of interest"}},{"value":"Not applicable.","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Ethics approval and consent to participate"}},{"value":"All authors have approved this manuscript for publication. This manuscript has not been previously published and is not pending publication elsewhere.","order":4,"name":"Ethics","group":{"name":"EthicsHeading","label":"Consent for publication"}}]}}