{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,18]],"date-time":"2026-07-18T16:24:43Z","timestamp":1784391883203,"version":"3.55.0"},"reference-count":63,"publisher":"Public Library of Science (PLoS)","issue":"7","license":[{"start":{"date-parts":[[2018,7,12]],"date-time":"2018-07-12T00:00:00Z","timestamp":1531353600000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100004386","name":"Universiti Malaya","doi-asserted-by":"publisher","award":["RU Operation Grant (RU016-2016)"],"award-info":[{"award-number":["RU Operation Grant (RU016-2016)"]}],"id":[{"id":"10.13039\/501100004386","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100003093","name":"Ministry of Higher Education, Malaysia","doi-asserted-by":"publisher","award":["UM.C\/625\/1\/HIR\/ MOHE\/ENG\/41"],"award-info":[{"award-number":["UM.C\/625\/1\/HIR\/ MOHE\/ENG\/41"]}],"id":[{"id":"10.13039\/501100003093","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["www.plosone.org"],"crossmark-restriction":false},"short-container-title":["PLoS ONE"],"DOI":"10.1371\/journal.pone.0200193","type":"journal-article","created":{"date-parts":[[2018,7,12]],"date-time":"2018-07-12T17:56:20Z","timestamp":1531418180000},"page":"e0200193","update-policy":"https:\/\/doi.org\/10.1371\/journal.pone.corrections_policy","source":"Crossref","is-referenced-by-count":33,"title":["Exoskeleton robot control for synchronous walking assistance in repetitive manual handling works based on dual unscented Kalman filter"],"prefix":"10.1371","volume":"13","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-1870-9862","authenticated-orcid":true,"given":"Fatai","family":"Sado","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Hwa Jen","family":"Yap","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Raja Ariffin Raja","family":"Ghazilla","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Norhafizan","family":"Ahmad","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"340","published-online":{"date-parts":[[2018,7,12]]},"reference":[{"issue":"5","key":"ref1","doi-asserted-by":"crossref","first-page":"671","DOI":"10.1080\/00140139.2015.1081988","article-title":"Exoskeletons for industrial application and their potential effects on physical work load","volume":"59","author":"MP de Looze","year":"2016","journal-title":"Ergonomics"},{"key":"ref2","unstructured":"Schneider E, Irastorza XB, Copsey S. OSH in figures: Work-related musculoskeletal disorders in the EU-Facts and figures. Office for Official Publications of the European Communities; 2010."},{"key":"ref3","unstructured":"Health and Safety Executive. Work-related Musculoskeletal Disorders (WRMSDs) Statistics in Great Britain 2017. Health and Safety Executive; 2017."},{"key":"ref4","unstructured":"Okunribido OO, Lewis D. Work-Related Lower Limb Musculoskeletal Disorders\u2014A Review of The Literature. Contemporary Ergonomics and Human Factors 2010. 2009; p. 333."},{"issue":"4","key":"ref5","doi-asserted-by":"crossref","first-page":"525","DOI":"10.1016\/j.tjog.2016.06.013","article-title":"Increased low back pain risk in nurses with high workload for patient care: A questionnaire survey","volume":"55","author":"SH Shieh","year":"2016","journal-title":"Taiwanese Journal of Obstetrics and Gynecology"},{"issue":"1","key":"ref6","doi-asserted-by":"crossref","first-page":"106","DOI":"10.1177\/1403494815602989","article-title":"Lower extremity musculoskeletal disorders in nurses: A narrative literature review","volume":"44","author":"M Stolt","year":"2016","journal-title":"Scand J Public Health"},{"issue":"1","key":"ref7","doi-asserted-by":"crossref","first-page":"21","DOI":"10.1186\/1743-0003-6-21","article-title":"Exoskeletons and orthoses: classification, design challenges and future directions","volume":"6","author":"H Herr","year":"2009","journal-title":"Journal of neuroengineering and rehabilitation"},{"issue":"1","key":"ref8","doi-asserted-by":"crossref","first-page":"144","DOI":"10.1109\/TRO.2008.915453","article-title":"Lower extremity exoskeletons and active orthoses: Challenges and state-of-the-art","volume":"24","author":"AM Dollar","year":"2008","journal-title":"Ieee Transactions on Robotics"},{"key":"ref9","first-page":"53","article-title":"Mobile Service Robotics","author":"K Stadler","year":"2014"},{"key":"ref10","first-page":"165","article-title":"Wearable Sensors and Robots","author":"Y Long","year":"2017"},{"key":"ref11","doi-asserted-by":"crossref","unstructured":"Brinker JO, Matsubara T, Teramae T, Noda T, Ogasawarsa T, Asfour T, et al. Walking pattern prediction with partial observation for partial walking assistance by using an exoskeleton system. In: Rehabilitation Robotics (ICORR), 2015 IEEE International Conference on. IEEE; 2015. p. 139\u2013144.","DOI":"10.1109\/ICORR.2015.7281189"},{"issue":"4","key":"ref12","doi-asserted-by":"crossref","first-page":"701","DOI":"10.1007\/s10514-015-9490-8","article-title":"An admittance shaping controller for exoskeleton assistance of the lower extremities","volume":"40","author":"G Aguirre-Ollinger","year":"2016","journal-title":"Autonomous Robots"},{"issue":"2","key":"ref13","doi-asserted-by":"crossref","first-page":"108","DOI":"10.1046\/j.1525-1403.2003.03017.x","article-title":"Robotic orthosis lokomat: A rehabilitation and research tool","volume":"6","author":"S Jezernik","year":"2003","journal-title":"Neuromodulation: Technology at the neural interface"},{"key":"ref14","doi-asserted-by":"crossref","unstructured":"Unluhisarcikli O, Pietrusinski M, Weinberg B, Bonato P, Mavroidis C. Design and control of a robotic lower extremity exoskeleton for gait rehabilitation. In: Intelligent Robots and Systems (IROS), 2011 IEEE\/RSJ International Conference on. IEEE; 2011. p. 4893\u20134898.","DOI":"10.1109\/IROS.2011.6094973"},{"key":"ref15","doi-asserted-by":"crossref","unstructured":"Bouri M, Stauffer Y, Schmitt C, Allemand Y, Gnemmi S, Clavel R, et al. The WalkTrainer: a robotic system for walking rehabilitation. In: Robotics and Biomimetics, 2006. ROBIO\u201906. IEEE International Conference on. IEEE; 2006. p. 1616\u20131621.","DOI":"10.1109\/ROBIO.2006.340186"},{"issue":"3","key":"ref16","doi-asserted-by":"crossref","first-page":"379","DOI":"10.1109\/TNSRE.2007.903919","article-title":"Design and evaluation of the LOPES exoskeleton robot for interactive gait rehabilitation","volume":"15","author":"JF Veneman","year":"2007","journal-title":"IEEE Transactions on Neural Systems and Rehabilitation Engineering"},{"issue":"1","key":"ref17","doi-asserted-by":"crossref","first-page":"20","DOI":"10.1186\/1743-0003-6-20","article-title":"Review of control strategies for robotic movement training after neurologic injury","volume":"6","author":"L Marchal-Crespo","year":"2009","journal-title":"Journal of neuroengineering and rehabilitation"},{"issue":"1","key":"ref18","doi-asserted-by":"crossref","first-page":"2","DOI":"10.1109\/TNSRE.2008.2008280","article-title":"Robot assisted gait training with active leg exoskeleton (ALEX)","volume":"17","author":"SK Banala","year":"2009","journal-title":"IEEE transactions on neural systems and rehabilitation engineering"},{"key":"ref19","doi-asserted-by":"crossref","unstructured":"Hayashi T, Kawamoto H, Sankai Y. Control method of robot suit HAL working as operator\u2019s muscle using biological and dynamical information. In: Intelligent Robots and Systems, 2005.(IROS 2005). 2005 IEEE\/RSJ International Conference on. IEEE; 2005. p. 3063\u20133068.","DOI":"10.1109\/IROS.2005.1545505"},{"issue":"3","key":"ref20","doi-asserted-by":"crossref","first-page":"e0194214","DOI":"10.1371\/journal.pone.0194214","article-title":"Robot-assisted voluntary initiation reduces control-related difficulties of initiating joint movement: A phenomenal questionnaire study on shaping and compensation of forward gait","volume":"13","author":"P Gr\u00fcneberg","year":"2018","journal-title":"PloS one"},{"key":"ref21","doi-asserted-by":"crossref","unstructured":"Nakagawa S, Pei D, Huang J, Sekiyama K, Fukuda T. Control of intelligent cane robot considering usage of ordinary cane. In: RO-MAN, 2013 IEEE. IEEE; 2013. p. 762\u2013767.","DOI":"10.1109\/ROMAN.2013.6628405"},{"key":"ref22","doi-asserted-by":"crossref","first-page":"120","DOI":"10.1016\/j.robot.2014.09.032","article-title":"Review of assistive strategies in powered lower-limb orthoses and exoskeletons","volume":"64","author":"T Yan","year":"2015","journal-title":"Robotics and Autonomous Systems"},{"issue":"9","key":"ref23","doi-asserted-by":"crossref","first-page":"989","DOI":"10.1163\/156855306778394012","article-title":"Control and system identification for the Berkeley lower extremity exoskeleton (BLEEX)","volume":"20","author":"J Ghan","year":"2006","journal-title":"Advanced Robotics"},{"key":"ref24","doi-asserted-by":"crossref","unstructured":"Kazerooni H, Racine JL, Huang L, Steger R. On the control of the berkeley lower extremity exoskeleton (BLEEX). In: Robotics and automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE international conference on. IEEE; 2005. p. 4353\u20134360.","DOI":"10.1109\/ROBOT.2005.1570790"},{"issue":"7","key":"ref25","first-page":"26","article-title":"RBF neural network with genetic algorithm optimization based sensitivity amplification control for exoskeleton","volume":"47","author":"Y Long","year":"2015","journal-title":"Journal of Harbin Institute of Technology"},{"key":"ref26","first-page":"73","article-title":"Force Control Theory and Method of Human Load Carrying Exoskeleton Suit","author":"Z Yang","year":"2017"},{"key":"ref27","doi-asserted-by":"crossref","DOI":"10.1007\/4-431-31381-8","article-title":"Adaptive motion of animals and machines","author":"H Kimura","year":"2006"},{"issue":"2","key":"ref28","doi-asserted-by":"crossref","first-page":"328","DOI":"10.1162\/NECO_a_00393","article-title":"Dynamical movement primitives: learning attractor models for motor behaviors","volume":"25","author":"AJ Ijspeert","year":"2013","journal-title":"Neural computation"},{"issue":"4","key":"ref29","doi-asserted-by":"crossref","first-page":"535","DOI":"10.1017\/S0140525X00006580","article-title":"Are central pattern generators understandable?","volume":"3","author":"AI Selverston","year":"1980","journal-title":"Behavioral and Brain Sciences"},{"issue":"6","key":"ref30","doi-asserted-by":"crossref","first-page":"691","DOI":"10.1016\/S0959-4388(00)00157-4","article-title":"Motor pattern generation","volume":"10","author":"E Marder","year":"2000","journal-title":"Current opinion in neurobiology"},{"key":"ref31","doi-asserted-by":"crossref","unstructured":"Ijspeert AJ, Nakanishi J, Schaal S. Movement imitation with nonlinear dynamical systems in humanoid robots. In: Robotics and Automation, 2002. Proceedings. ICRA\u201902. IEEE International Conference on. vol. 2. IEEE; 2002. p. 1398\u20131403.","DOI":"10.1109\/ROBOT.2002.1014739"},{"issue":"2","key":"ref32","doi-asserted-by":"crossref","first-page":"e0148942","DOI":"10.1371\/journal.pone.0148942","article-title":"Adaptive control of exoskeleton robots for periodic assistive behaviours based on EMG feedback minimisation","volume":"11","author":"L Peternel","year":"2016","journal-title":"PloS one"},{"key":"ref33","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: Robotics and Automation (ICRA), 2016 IEEE International Conference on. IEEE; 2016. p. 257\u2013263.","DOI":"10.1109\/ICRA.2016.7487142"},{"issue":"4","key":"ref34","doi-asserted-by":"crossref","first-page":"816","DOI":"10.1109\/TRO.2014.2304775","article-title":"Coupling Movement Primitives: Interaction With the Environment and Bimanual Tasks","volume":"30","author":"A Gams","year":"2014","journal-title":"IEEE Transactions on Robotics"},{"key":"ref35","doi-asserted-by":"crossref","unstructured":"Huang R, Cheng H, Guo H, Lin X, Zhang J. Hierarchical learning control with physical human-exoskeleton interaction. Information Sciences. 2017;.","DOI":"10.1016\/j.ins.2017.09.068"},{"issue":"2","key":"ref36","doi-asserted-by":"crossref","first-page":"269","DOI":"10.1016\/j.physd.2006.02.009","article-title":"Dynamic Hebbian learning in adaptive frequency oscillators","volume":"216","author":"L Righetti","year":"2006","journal-title":"Physica D: Nonlinear Phenomena"},{"issue":"10","key":"ref37","doi-asserted-by":"crossref","first-page":"1173","DOI":"10.1007\/s11517-011-0816-1","article-title":"Oscillator-based assistance of cyclical movements: model-based and model-free approaches","volume":"49","author":"R Ronsse","year":"2011","journal-title":"Medical and biological engineering and computing"},{"key":"ref38","doi-asserted-by":"crossref","unstructured":"Ronsse R, Koopman B, Vitiello N, Lenzi T, De Rossi SMM, van den Kieboom J, et al. Oscillator-based walking assistance: A model-free approach. In: Rehabilitation Robotics (ICORR), 2011 IEEE International Conference on. IEEE; 2011. p. 1\u20136.","DOI":"10.1109\/ICORR.2011.5975352"},{"issue":"4","key":"ref39","doi-asserted-by":"crossref","first-page":"1001","DOI":"10.1109\/TBME.2010.2089629","article-title":"Human-robot synchrony: flexible assistance using adaptive oscillators","volume":"58","author":"R Ronsse","year":"2011","journal-title":"IEEE Trans Biomed Eng"},{"issue":"6","key":"ref40","doi-asserted-by":"crossref","first-page":"938","DOI":"10.1109\/TNSRE.2013.2248749","article-title":"Powered hip exoskeletons can reduce the user\u2019s hip and ankle muscle activations during walking","volume":"21","author":"T Lenzi","year":"2013","journal-title":"IEEE Transactions on Neural Systems and Rehabilitation Engineering"},{"key":"ref41","doi-asserted-by":"crossref","unstructured":"Winfree KN, Stegall P, Agrawal SK. Design of a minimally constraining, passively supported gait training exoskeleton: ALEX II. In: Rehabilitation Robotics (ICORR), 2011 IEEE International Conference on. IEEE; 2011. p. 1\u20136.","DOI":"10.1109\/ICORR.2011.5975499"},{"key":"ref42","doi-asserted-by":"crossref","unstructured":"Ronsse R, De Rossi SMM, Vitiello N, Lenzi T, Koopman B, van der Kooij H, et al. Real-time estimate of period derivatives using adaptive oscillators: Application to impedance-based walking assistance. In: Intelligent Robots and Systems (IROS), 2012 IEEE\/RSJ International Conference on. IEEE; 2012. p. 3362\u20133368.","DOI":"10.1109\/IROS.2012.6385702"},{"key":"ref43","doi-asserted-by":"crossref","unstructured":"Matsubara T, Uchikata A, Morimoto J. Full-body exoskeleton robot control for walking assistance by style-phase adaptive pattern generation. In: Intelligent Robots and Systems (IROS), 2012 IEEE\/RSJ International Conference on. IEEE; 2012. p. 3914\u20133920.","DOI":"10.1109\/IROS.2012.6385528"},{"key":"ref44","doi-asserted-by":"crossref","unstructured":"Kawamoto H, Lee S, Kanbe S, Sankai Y. Power assist method for HAL-3 using EMG-based feedback controller. In: Systems, Man and Cybernetics, 2003. IEEE International Conference on. vol. 2. IEEE; 2003. p. 1648\u20131653.","DOI":"10.1109\/ICSMC.2003.1244649"},{"issue":"9","key":"ref45","doi-asserted-by":"crossref","first-page":"1402","DOI":"10.1242\/jeb.009241","article-title":"Mechanics and energetics of level walking with powered ankle exoskeletons","volume":"211","author":"GS Sawicki","year":"2008","journal-title":"Journal of Experimental Biology"},{"key":"ref46","doi-asserted-by":"crossref","unstructured":"Aguirre-Ollinger G. Learning muscle activation patterns via nonlinear oscillators: application to lower-limb assistance. In: Intelligent Robots and Systems (IROS), 2013 IEEE\/RSJ International Conference on. IEEE; 2013. p. 1182\u20131189.","DOI":"10.1109\/IROS.2013.6696500"},{"key":"ref47","first-page":"702","article-title":"Neural-network inverse dynamic online learning control on physical exoskeleton","volume":"4234","author":"H Cao","year":"2006","journal-title":"Neural Information Processing, Pt 3, Proceedings"},{"issue":"3","key":"ref48","doi-asserted-by":"crossref","first-page":"69","DOI":"10.1109\/MCS.2010.936465","article-title":"Applications of Kalman filtering in aerospace 1960 to the present [historical perspectives]","volume":"30","author":"MS Grewal","year":"2010","journal-title":"IEEE Control systems"},{"issue":"3","key":"ref49","doi-asserted-by":"crossref","first-page":"229","DOI":"10.1109\/70.938381","article-title":"A solution to the simultaneous localization and map building (SLAM) problem","volume":"17","author":"MG Dissanayake","year":"2001","journal-title":"IEEE Transactions on robotics and automation"},{"key":"ref50","doi-asserted-by":"crossref","unstructured":"Wan EA, Nelson AT. Dual extended Kalman filter methods. Kalman filtering and neural networks. 2001; p. 123\u2013173.","DOI":"10.1002\/0471221546.ch5"},{"key":"ref51","doi-asserted-by":"crossref","unstructured":"Wan EA, Van Der Merwe R. The unscented Kalman filter for nonlinear estimation. In: Adaptive Systems for Signal Processing, Communications, and Control Symposium 2000. AS-SPCC. The IEEE 2000. Ieee; 2000. p. 153\u2013158.","DOI":"10.1109\/ASSPCC.2000.882463"},{"key":"ref52","doi-asserted-by":"crossref","DOI":"10.1002\/9780470549148","article-title":"Biomechanics and motor control of human movement","author":"DA Winter","year":"2009"},{"key":"ref53","article-title":"Dynamics of Human Gait","author":"CL Vaughan","year":"1999"},{"key":"ref54","article-title":"Human walking","author":"J Rose","year":"1994"},{"issue":"5","key":"ref55","first-page":"267","article-title":"Biomechanical analysis of hip and knee joints during gait in elderly subjects","volume":"15","author":"RN Kirkwood","year":"2007","journal-title":"Acta Ortop\u00c3\u00a9dica Brasileira"},{"key":"ref56","doi-asserted-by":"crossref","unstructured":"Ryder MC, Sup F. Leveraging gait dynamics to improve efficiency and performance of powered hip exoskeletons. In: Rehabilitation Robotics (ICORR), 2013 IEEE International Conference on. IEEE; 2013. p. 1\u20136.","DOI":"10.1109\/ICORR.2013.6650440"},{"key":"ref57","doi-asserted-by":"crossref","unstructured":"Yali H, Xingsong W. Biomechanics study of human lower limb walking: Implication for design of power-assisted robot. In: Intelligent Robots and Systems (IROS), 2010 IEEE\/RSJ International Conference on. IEEE; 2010. p. 3398\u20133403.","DOI":"10.1109\/IROS.2010.5650497"},{"key":"ref58","doi-asserted-by":"crossref","unstructured":"Huang LH, Steger JR, Kazerooni H, Asme. Hybrid control of the berkeley lower extremity exoskeleton (BLEEX). Proceedings of the ASME Dynamic Systems and Control Division 2005, Pts A and B. New York: Amer Soc Mechanical Engineers; 2005.","DOI":"10.1115\/IMECE2005-80109"},{"key":"ref59","doi-asserted-by":"crossref","first-page":"13","DOI":"10.1016\/j.mechatronics.2015.11.010","article-title":"The design and control of a 3DOF lower limb rehabilitation robot","volume":"33","author":"J Wu","year":"2016","journal-title":"Mechatronics"},{"key":"ref60","doi-asserted-by":"crossref","DOI":"10.1002\/0471221546","article-title":"Kalman filtering and neural networks","author":"SS Haykin","year":"2001"},{"key":"ref61","article-title":"Nonlinear estimation and modeling of noisy time-series by dual Kalman filtering methods","author":"AT Nelson","year":"2000"},{"issue":"7","key":"ref62","doi-asserted-by":"crossref","first-page":"639","DOI":"10.1080\/00207170410001704998","article-title":"Kalman filters for non-linear systems: a comparison of performance","volume":"77","author":"T Lefebvre*","year":"2004","journal-title":"International journal of Control"},{"key":"ref63","article-title":"Simulation and the Monte Carlo method","volume":"10","author":"RY Rubinstein","year":"2016"}],"container-title":["PLOS ONE"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/dx.plos.org\/10.1371\/journal.pone.0200193","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,5]],"date-time":"2025-07-05T19:15:30Z","timestamp":1751742930000},"score":1,"resource":{"primary":{"URL":"https:\/\/dx.plos.org\/10.1371\/journal.pone.0200193"}},"subtitle":[],"editor":[{"given":"Jian","family":"Huang","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"editor"}]}],"short-title":[],"issued":{"date-parts":[[2018,7,12]]},"references-count":63,"journal-issue":{"issue":"7","published-online":{"date-parts":[[2018,7,12]]}},"URL":"https:\/\/doi.org\/10.1371\/journal.pone.0200193","relation":{},"ISSN":["1932-6203"],"issn-type":[{"value":"1932-6203","type":"electronic"}],"subject":[],"published":{"date-parts":[[2018,7,12]]}}}