{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,4]],"date-time":"2026-05-04T20:42:18Z","timestamp":1777927338911,"version":"3.51.4"},"reference-count":28,"publisher":"SAGE Publications","issue":"3","license":[{"start":{"date-parts":[[2021,8,24]],"date-time":"2021-08-24T00:00:00Z","timestamp":1629763200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"funder":[{"DOI":"10.13039\/501100012226","name":"fundamental research funds for the central universities","doi-asserted-by":"publisher","award":["JZ2018HGBZ0115"],"award-info":[{"award-number":["JZ2018HGBZ0115"]}],"id":[{"id":"10.13039\/501100012226","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["51705120"],"award-info":[{"award-number":["51705120"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61803141"],"award-info":[{"award-number":["61803141"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering"],"published-print":{"date-parts":[[2022,3]]},"abstract":"<jats:p>Lower limb exoskeleton which augments the human performance is a wearable human\u2013machine integrated system used to assist people carrying heavy loads. Recently, underactuated lower limb exoskeleton systems with some passive joints become more and more attractive due to the advantages of smaller weight, lower system energy consumption and lower cost. However, because of the less of control inputs, the existed control methods of fully actuated exoskeletons cannot be extended to underactuated systems, which makes the robust controller design of underactuated lower limb exoskeletons becomes more challenged. This article focuses on the high-performance human\u2013machine interaction force control design of underactuated lower limb exoskeletons with passive ankle joint. In order to solve the reduction of control inputs, the holonomic constraint from the wearer is considered, which help transform the dynamics of 3-degree-of-freedom underactuated exoskeleton in joint space into a 2-degree-of-freedom fully actuated system in Cartesian space. A two-level interaction force controller using adaptive robust control algorithm is proposed to effectively address the negative effect of various model uncertainties and external disturbances. In order to facilitate the control parameter selection, a gain tuning method is also presented. Comparative simulations are carried out, which indicate that the proposed two-level interaction force controller achieves smaller interaction force and better robust performance to various modeling errors and disturbances.<\/jats:p>","DOI":"10.1177\/09596518211040594","type":"journal-article","created":{"date-parts":[[2021,8,25]],"date-time":"2021-08-25T02:08:43Z","timestamp":1629857323000},"page":"553-566","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":0,"title":["Precision force control of an underactuated stance leg exoskeleton for human performance augmentation"],"prefix":"10.1177","volume":"236","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-7613-3940","authenticated-orcid":false,"given":"Shan","family":"Chen","sequence":"first","affiliation":[{"name":"School of Mechanical Engineering, Hefei University of Technology, Hefei, China"},{"name":"Anhui Engineering Laboratory of Intelligent CNC Technology and Equipment, Hefei, China"}]},{"given":"Tenghui","family":"Han","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Hefei University of Technology, Hefei, China"},{"name":"Anhui Engineering Laboratory of Intelligent CNC Technology and Equipment, Hefei, China"}]},{"given":"Fangfang","family":"Dong","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Hefei University of Technology, Hefei, China"},{"name":"Anhui Engineering Laboratory of Intelligent CNC Technology and Equipment, Hefei, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8319-9382","authenticated-orcid":false,"given":"Lei","family":"Lu","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Hefei University of Technology, Hefei, China"},{"name":"Anhui Engineering Laboratory of Intelligent CNC Technology and Equipment, Hefei, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3587-2234","authenticated-orcid":false,"given":"Haijun","family":"Liu","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Hefei University of Technology, Hefei, China"},{"name":"Anhui Engineering Laboratory of Intelligent CNC Technology and Equipment, Hefei, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4589-922X","authenticated-orcid":false,"given":"Xiaoqing","family":"Tian","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Hefei University of Technology, Hefei, China"},{"name":"Anhui Engineering Laboratory of Intelligent CNC Technology and Equipment, Hefei, China"}]},{"given":"Jiang","family":"Han","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Hefei University of Technology, Hefei, China"},{"name":"Anhui Engineering Laboratory of Intelligent CNC Technology and Equipment, Hefei, China"}]}],"member":"179","published-online":{"date-parts":[[2021,8,24]]},"reference":[{"key":"e_1_3_2_2_2","doi-asserted-by":"publisher","DOI":"10.1109\/TNSRE.2019.2944655"},{"key":"e_1_3_2_3_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.jot.2019.09.006"},{"key":"e_1_3_2_4_2","first-page":"92","article-title":"Status and prospects of the lower extremity exoskeleton robots for human power augmentation","volume":"33","author":"Ouyang X","year":"2015","unstructured":"Ouyang X, Fan B, Ding S. 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New York: IEEE."},{"key":"e_1_3_2_9_2","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2009.2032685"},{"key":"e_1_3_2_10_2","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2020.3013417"},{"key":"e_1_3_2_11_2","first-page":"1124","volume-title":"Proceedings of the American control conference","volume":"3","author":"Yu W","unstructured":"Yu W, Rosen J, Li X. PID admittance control for an upper limb exoskeleton. In: Proceedings of the American control conference, San Francisco, CA, 29 June\u20131 July 2011, vol. 3, pp.1124\u20131129. 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