{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,9,20]],"date-time":"2025-09-20T21:30:03Z","timestamp":1758403803312,"version":"3.37.3"},"reference-count":35,"publisher":"World Scientific Pub Co Pte Ltd","issue":"05","funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"crossref","award":["61761166006","51575338"],"award-info":[{"award-number":["61761166006","51575338"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"crossref"}]},{"DOI":"10.13039\/501100003399","name":"Shanghai Science and Technology Committee","doi-asserted-by":"crossref","award":["17510740400"],"award-info":[{"award-number":["17510740400"]}],"id":[{"id":"10.13039\/501100003399","id-type":"DOI","asserted-by":"crossref"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Int. J. Human. Robot."],"published-print":{"date-parts":[[2019,10]]},"abstract":"<jats:p> Robotic exoskeletons are expected to show high compliance and low impedance for human\u2013robot interactions (HRIs). Our study introduces a novel method based on nonlinear model reference adaptive control (MRAC) to reduce the inherent impedance and replace the traditional impedance controller in HRIs. The control law and adaptive law are designed according to a candidate Lyapunov function. A simple system identification and initialization method for the nonlinear MRAC is put forward, which provides a set of better initial values for the controller. From the results of simulation and experiment, our controller can reduce the mechanical impedance and achieve high compliance for HRI.\u00a0The adaptive control and compliance control can be both achieved by the proposed nonlinear MRAC framework. <\/jats:p>","DOI":"10.1142\/s0219843619500208","type":"journal-article","created":{"date-parts":[[2019,6,27]],"date-time":"2019-06-27T04:20:05Z","timestamp":1561609205000},"page":"1950020","source":"Crossref","is-referenced-by-count":4,"title":["A New Impedance Controller Based on Nonlinear Model Reference Adaptive Control for Exoskeleton Systems"],"prefix":"10.1142","volume":"16","author":[{"given":"Kai","family":"Gui","sequence":"first","affiliation":[{"name":"State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, P.\u00a0R.\u00a0China"}]},{"given":"U-Xuan","family":"Tan","sequence":"additional","affiliation":[{"name":"Singapore University of Technology and Design, Singapore"}]},{"given":"Honghai","family":"Liu","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, P.\u00a0R.\u00a0China"}]},{"given":"Dingguo","family":"Zhang","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, P.\u00a0R.\u00a0China"},{"name":"Department of Electronic & Electrical Engineering, University of Bath, UK"}]}],"member":"219","published-online":{"date-parts":[[2019,11,19]]},"reference":[{"key":"S0219843619500208BIB001","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.1995.525827"},{"key":"S0219843619500208BIB002","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2009.5152496"},{"key":"S0219843619500208BIB003","doi-asserted-by":"publisher","DOI":"10.1109\/41.481407"},{"key":"S0219843619500208BIB004","doi-asserted-by":"publisher","DOI":"10.1109\/TNSRE.2007.903919"},{"key":"S0219843619500208BIB005","doi-asserted-by":"publisher","DOI":"10.1109\/TNSRE.2005.848628"},{"key":"S0219843619500208BIB006","doi-asserted-by":"publisher","DOI":"10.1115\/1.4006875"},{"key":"S0219843619500208BIB007","doi-asserted-by":"publisher","DOI":"10.1016\/j.jamcollsurg.2012.02.005"},{"key":"S0219843619500208BIB008","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843618500214"},{"key":"S0219843619500208BIB009","first-page":"2940","volume-title":"2010 IEEE Int. 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