{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,18]],"date-time":"2026-01-18T10:04:24Z","timestamp":1768730664561,"version":"3.49.0"},"reference-count":25,"publisher":"Emerald","issue":"6","license":[{"start":{"date-parts":[[2021,7,27]],"date-time":"2021-07-27T00:00:00Z","timestamp":1627344000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IR"],"published-print":{"date-parts":[[2021,11,16]]},"abstract":"<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title>\n<jats:p>Walking-aid exoskeletons can assist and protect effectively the group with lower limb muscle strength decline, workers, first responders and military personnel. However, there is almost no united control strategy that can effectively assist daily walking. This paper aims to propose a hybrid oscillators\u2019 (HOs) model to adapt to irregular gait (IG) patterns (frequent alternation between walking and standing or rapid changing of walking speed, etc.) and generate compliant and no-delay assistive torque.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title>\n<jats:p>The proposed algorithm, HOs, combines adaptive oscillators (AOs) with phase oscillator through switching assistive mode depending on whether or not the AOs' predicting error of hip joint degree is exceeded our expectation. HOs can compensate for delay by predicting gait phase when in AOs mode. Several treadmill and free walking experiments are designed to test the adaptability and effectiveness of HOs model under IG.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Findings<\/jats:title>\n<jats:p>The experimental results show that the assistive strategy based on the HOs is effective under IG patterns, and delay is compensated totally under quasiperiodic gait conditions where a smoother human\u2013robot interaction (HRI) force and the reduction of HRI force peak are observed. Delay compensation is found very effective at improving the performance of the assistive exoskeleton.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Originality\/value<\/jats:title>\n<jats:p>A novel algorithm is proposed to improve the adaptability of a walking assist hip exoskeleton in daily walking as well as generate compliant, no-delay assistive torque when converging.<\/jats:p>\n<\/jats:sec>","DOI":"10.1108\/ir-02-2021-0038","type":"journal-article","created":{"date-parts":[[2021,7,28]],"date-time":"2021-07-28T05:27:44Z","timestamp":1627450064000},"page":"906-914","source":"Crossref","is-referenced-by-count":13,"title":["Hybrid oscillator-based no-delay hip exoskeleton control for free walking assistance"],"prefix":"10.1108","volume":"48","author":[{"given":"Wei","family":"Yang","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Linghui","family":"Xu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Linfan","family":"Yu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yuting","family":"Chen","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zehao","family":"Yan","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Canjun","family":"Yang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"140","published-online":{"date-parts":[[2021,7,27]]},"reference":[{"key":"key2021111307185741100_ref001","doi-asserted-by":"crossref","first-page":"2820","DOI":"10.1109\/ICRA.2018.8461046","article-title":"A lightweight and efficient portable soft exosuit for paretic ankle assistance in walking after stroke","volume-title":"2018 IEEE International Conference on Robotics and Automation (ICRA)","year":"2018"},{"key":"key2021111307185741100_ref002","doi-asserted-by":"crossref","first-page":"024502","DOI":"10.1115\/1.4036023","article-title":"Nonlinear, phase-based oscillator to generate and assist periodic motions","volume":"9","year":"2017","journal-title":"Journal of Mechanisms Robotics"},{"key":"key2021111307185741100_ref003","doi-asserted-by":"crossref","first-page":"3501","DOI":"10.1109\/ICRA.2016.7487530","article-title":"IMU-based iterative control for hip extension assistance with a soft exosuit","volume-title":"2016 IEEE International Conference on Robotics and Automation (ICRA)","year":"2016"},{"issue":"15","key":"key2021111307185741100_ref004","doi-asserted-by":"crossref","first-page":"eaar5438","DOI":"10.1126\/scirobotics.aar5438","article-title":"Human-in-the-loop optimization of hip assistance with a soft exosuit during walking","volume":"3","year":"2018","journal-title":"Science Robotics"},{"issue":"2","key":"key2021111307185741100_ref005","doi-asserted-by":"crossref","first-page":"290","DOI":"10.1108\/IR-09-2018-0199","article-title":"Design and fabrication of a lower limb exoskeleton to assist in stair ascending","volume":"46","year":"2019","journal-title":"Industrial Robot: The International Journal of Robotics Research and Application"},{"issue":"1","key":"key2021111307185741100_ref006","doi-asserted-by":"crossref","first-page":"28","DOI":"10.1109\/TMRB.2019.2961749","article-title":"Real-time neural network-based gait phase estimation using a robotic hip exoskeleton","volume":"2","year":"2020","journal-title":"IEEE Transactions on Medical Robotics and Bionics"},{"key":"key2021111307185741100_ref007","article-title":"Adding and subtracting energy to body motion: phase oscillator","volume-title":"ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers Digital Collection","year":"2015"},{"issue":"3","key":"key2021111307185741100_ref008","doi-asserted-by":"crossref","first-page":"3083","DOI":"10.1109\/LRA.2019.2924852","article-title":"Design and control of a multifunctional ankle exoskeleton powered by magnetorheological actuators to assist walking, jumping, and landing","volume":"4","year":"2019","journal-title":"IEEE Robotics and Automation Letters"},{"key":"key2021111307185741100_ref009","doi-asserted-by":"crossref","first-page":"66","DOI":"10.1186\/s12984-018-0410-y","article-title":"Autonomous multi-joint soft exosuit with augmentation-power-based control parameter tuning reduces energy cost of loaded walking","volume":"15","year":"2018","journal-title":"J. Neuroengineering Rehabil"},{"issue":"5","key":"key2021111307185741100_ref010","doi-asserted-by":"crossref","first-page":"789","DOI":"10.1016\/j.jbiomech.2011.01.030","article-title":"Invariant hip moment pattern while walking with a robotic hip exoskeleton","volume":"44","year":"2011","journal-title":"Journal of Biomechanics"},{"issue":"3","key":"key2021111307185741100_ref011","doi-asserted-by":"crossref","first-page":"264","DOI":"10.1108\/IR-10-2016-0255","article-title":"Synthesis and experiment of a lower limb exoskeleton rehabilitation robot","volume":"44","year":"2017","journal-title":"Industrial Robot: An International Journal"},{"issue":"4","key":"key2021111307185741100_ref012","doi-asserted-by":"crossref","first-page":"1055","DOI":"10.1109\/TRO.2019.2913318","article-title":"Delayed output feedback control for gait assistance with a robotic hip exoskeleton","volume":"35","year":"2019","journal-title":"IEEE Transactions on Robotics"},{"issue":"3","key":"key2021111307185741100_ref013","doi-asserted-by":"crossref","first-page":"686","DOI":"10.1109\/TRO.2018.2794536","article-title":"Continuous-phase control of a powered knee\u2013ankle prosthesis: amputee experiments across speeds and inclines","volume":"34","year":"2018","journal-title":"IEEE Transactions on Robotics"},{"issue":"3","key":"key2021111307185741100_ref014","doi-asserted-by":"crossref","first-page":"783","DOI":"10.1109\/TRO.2013.2240173","article-title":"Real-time estimate of velocity and acceleration of quasi-periodic signals using adaptive oscillators","volume":"29","year":"2013","journal-title":"IEEE Transactions on Robotics"},{"key":"key2021111307185741100_ref015","doi-asserted-by":"crossref","first-page":"5565","DOI":"10.1109\/ICRA.2015.7139977","article-title":"A new adaptive frequency oscillator for gait assistance","volume-title":"2015 IEEE International Conference on Robotics and Automation (ICRA)","year":"2015"},{"key":"key2021111307185741100_ref099","doi-asserted-by":"crossref","first-page":"4628","DOI":"10.1109\/ICRA.2016.7487663","article-title":"Fully autonomous hip exoskeleton saves metabolic cost of walking","volume-title":"2016 IEEE International Conference on Robotics and Automation (ICRA)","year":"2016"},{"key":"key2021111307185741100_ref016","doi-asserted-by":"crossref","first-page":"6752","DOI":"10.1109\/ICRA.2018.8460841","article-title":"Adaptive oscillator-based control for active lower-limb exoskeleton and its metabolic impact","volume-title":"2018 IEEE International Conference on Robotics and Automation (ICRA)","year":"2018"},{"key":"key2021111307185741100_ref0815","doi-asserted-by":"crossref","first-page":"809","DOI":"10.1109\/ICORR.2019.8779554","article-title":"RNN-based on-line continuous gait phase estimation from shank-mounted IMUs to control ankle exoskeletons","volume-title":"2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)","year":"2019"},{"issue":"1","key":"key2021111307185741100_ref017","doi-asserted-by":"publisher","first-page":"011001","DOI":"10.1115\/1.4029336","article-title":"Limit cycles to enhance human performance based on phase oscillators","volume":"7","year":"2015","journal-title":"Journal of Mechanisms and Robotics"},{"key":"key2021111307185741100_ref018","article-title":"A novel approach for gait phase estimation for different locomotion modes using kinematic shank information 8","year":"2020"},{"key":"key2021111307185741100_ref019","first-page":"1","article-title":"Locomotion mode identification and gait phase estimation for exoskeletons during continuous multi-locomotion tasks","year":"2019","journal-title":"IEEE Trans. Cogn. Dev. Syst"},{"issue":"4","key":"key2021111307185741100_ref020","doi-asserted-by":"crossref","first-page":"3318","DOI":"10.1109\/LRA.2019.2926678","article-title":"Adaptive oscillator-based robust control for flexible hip assistive exoskeleton","volume":"4","year":"2019","journal-title":"IEEE Robotics and Automation Letters"},{"issue":"3","key":"key2021111307185741100_ref021","doi-asserted-by":"crossref","first-page":"759","DOI":"10.1007\/s10514-016-9566-0","article-title":"An oscillator-based smooth real-time estimate of gait phase for wearable robotics","volume":"41","year":"2017","journal-title":"Autonomous Robots"},{"issue":"6344","key":"key2021111307185741100_ref022","doi-asserted-by":"crossref","first-page":"1280","DOI":"10.1126\/science.aal5054","article-title":"Human-in-the-loop optimization of exoskeleton assistance during walking","volume":"356","year":"2017","journal-title":"Science"},{"issue":"10","key":"key2021111307185741100_ref023","doi-asserted-by":"crossref","first-page":"2419","DOI":"10.1109\/TBME.2017.2672720","article-title":"Gait phase estimation based on noncontact capacitive sensing and adaptive oscillators","volume":"64","year":"2017","journal-title":"IEEE Transactions on Biomedical Engineering"}],"container-title":["Industrial Robot: the international journal of robotics research and application"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-02-2021-0038\/full\/xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-02-2021-0038\/full\/html","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,24]],"date-time":"2025-07-24T21:38:28Z","timestamp":1753393108000},"score":1,"resource":{"primary":{"URL":"http:\/\/www.emerald.com\/ir\/article\/48\/6\/906-914\/187247"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,7,27]]},"references-count":25,"journal-issue":{"issue":"6","published-online":{"date-parts":[[2021,7,27]]},"published-print":{"date-parts":[[2021,11,16]]}},"alternative-id":["10.1108\/IR-02-2021-0038"],"URL":"https:\/\/doi.org\/10.1108\/ir-02-2021-0038","relation":{},"ISSN":["0143-991X","0143-991X"],"issn-type":[{"value":"0143-991X","type":"print"},{"value":"0143-991X","type":"print"}],"subject":[],"published":{"date-parts":[[2021,7,27]]}}}