{"id":"https://openalex.org/W2058737606","doi":"https://doi.org/10.3844/jcssp.2010.912.919","title":"Rehabilitation of a Human Arm Supported by a Robotic Manipulator: A Position/Force Cooperative Control","display_name":"Rehabilitation of a Human Arm Supported by a Robotic Manipulator: A Position/Force Cooperative Control","publication_year":2010,"publication_date":"2010-08-01","ids":{"openalex":"https://openalex.org/W2058737606","doi":"https://doi.org/10.3844/jcssp.2010.912.919","mag":"2058737606"},"language":"en","primary_location":{"id":"doi:10.3844/jcssp.2010.912.919","doi":"https://doi.org/10.3844/jcssp.2010.912.919","is_oa":true,"landing_page_url":"https://doi.org/10.3844/jcssp.2010.912.919","pdf_url":"https://thescipub.com/pdf/jcssp.2010.912.919.pdf","source":{"id":"https://openalex.org/S50245893","display_name":"Journal of Computer Science","issn_l":"1549-3636","issn":["1549-3636","1552-6607"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","poland-20","russia-white-list-3"],"host_organization":"https://openalex.org/P4322697006","host_organization_name":"Science Publications","host_organization_lineage":["https://openalex.org/P4322697006"],"host_organization_lineage_names":["Science Publications"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Computer Science","raw_type":"journal-article"},"volume":null,"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://thescipub.com/pdf/jcssp.2010.912.919.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5113938596","display_name":"Mehdi Mehdi","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I179097149","display_name":"University of Carthage","ror":"https://ror.org/057x6za15","country_code":"TN","type":"education","lineage":["https://openalex.org/I179097149"]},{"id":"https://openalex.org/I42731748","display_name":"National Institute of Applied Science and Technology","ror":"https://ror.org/00qn2rd91","country_code":"TN","type":"facility","lineage":["https://openalex.org/I42731748"]}],"countries":["TN"],"is_corresponding":true,"raw_author_name":"Mehdi","raw_affiliation_strings":["Department of Physical Engineering and Instrumentation, National Institute of Applied Sciences and Technology, University of Carthage,","Department of Physical Engineering and Instrumentation, National Institute of Applied Sciences and Technology, University of Carthage, INSAT, Centre Urbain Nord BP 676-1080 Tunis Cedex, Tunisia","INSAT, Centre Urbain Nord BP 676-1080 Tunis Cedex, Tunisia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Physical Engineering and Instrumentation, National Institute of Applied Sciences and Technology, University of Carthage,","institution_ids":["https://openalex.org/I179097149"]},{"raw_affiliation_string":"Department of Physical Engineering and Instrumentation, National Institute of Applied Sciences and Technology, University of Carthage, INSAT, Centre Urbain Nord BP 676-1080 Tunis Cedex, Tunisia","institution_ids":["https://openalex.org/I179097149","https://openalex.org/I42731748"]},{"raw_affiliation_string":"INSAT, Centre Urbain Nord BP 676-1080 Tunis Cedex, Tunisia","institution_ids":["https://openalex.org/I42731748"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5113938596"],"corresponding_institution_ids":["https://openalex.org/I179097149","https://openalex.org/I42731748"],"apc_list":null,"apc_paid":null,"fwci":2.2657,"has_fulltext":true,"cited_by_count":16,"citation_normalized_percentile":{"value":0.87014402,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":88,"max":99},"biblio":{"volume":"6","issue":"8","first_page":"912","last_page":"919"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9667999744415283,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9667999744415283,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.012799999676644802,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.008999999612569809,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/rehabilitation-robotics","display_name":"rehabilitation robotics","score":0.5899999737739563},{"id":"https://openalex.org/keywords/human-robot-collaboration","display_name":"human-robot collaboration","score":0.6520000100135803},{"id":"https://openalex.org/keywords/position-force-control","display_name":"position/force control","score":0.8090000152587891},{"id":"https://openalex.org/keywords/impedance-control","display_name":"impedance control","score":0.9829999804496765},{"id":"https://openalex.org/keywords/upper-limb-rehabilitation","display_name":"upper limb rehabilitation","score":0.43799999356269836},{"id":"https://openalex.org/keywords/contact-force-control","display_name":"contact force control","score":0.5370000004768372},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.7770000100135803},{"id":"https://openalex.org/keywords/asymptotic-stability","display_name":"asymptotic stability","score":0.7929999828338623},{"id":"https://openalex.org/keywords/constrained-motion","display_name":"constrained motion","score":0.5550000071525574}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7073545455932617},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.6385773420333862},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5968326926231384},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5734931826591492},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.57230544090271},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.5133987665176392},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4862741231918335},{"id":"https://openalex.org/C2775862927","wikidata":"https://www.wikidata.org/wiki/Q7309766","display_name":"Rehabilitation robotics","level":3,"score":0.44435495138168335},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.41208580136299133},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.41148194670677185},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.38980260491371155},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35606348514556885},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.239338219165802},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.3844/jcssp.2010.912.919","doi":"https://doi.org/10.3844/jcssp.2010.912.919","is_oa":true,"landing_page_url":"https://doi.org/10.3844/jcssp.2010.912.919","pdf_url":"https://thescipub.com/pdf/jcssp.2010.912.919.pdf","source":{"id":"https://openalex.org/S50245893","display_name":"Journal of Computer Science","issn_l":"1549-3636","issn":["1549-3636","1552-6607"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","poland-20","russia-white-list-3"],"host_organization":"https://openalex.org/P4322697006","host_organization_name":"Science Publications","host_organization_lineage":["https://openalex.org/P4322697006"],"host_organization_lineage_names":["Science Publications"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Computer Science","raw_type":"journal-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.179.3140","doi":null,"is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.179.3140","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.scipub.org/fulltext/jcs/jcs68912-919.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.679.2651","doi":null,"is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.679.2651","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://thescipub.com/PDF/jcssp.2010.912.919.pdf","raw_type":"text"}],"best_oa_location":{"id":"doi:10.3844/jcssp.2010.912.919","doi":"https://doi.org/10.3844/jcssp.2010.912.919","is_oa":true,"landing_page_url":"https://doi.org/10.3844/jcssp.2010.912.919","pdf_url":"https://thescipub.com/pdf/jcssp.2010.912.919.pdf","source":{"id":"https://openalex.org/S50245893","display_name":"Journal of Computer Science","issn_l":"1549-3636","issn":["1549-3636","1552-6607"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","poland-20","russia-white-list-3"],"host_organization":"https://openalex.org/P4322697006","host_organization_name":"Science Publications","host_organization_lineage":["https://openalex.org/P4322697006"],"host_organization_lineage_names":["Science Publications"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Computer Science","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.5683000087738037,"id":"https://metadata.un.org/sdg/3","display_name":"Good health and well-being"}],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2058737606.pdf","grobid_xml":"https://content.openalex.org/works/W2058737606.grobid-xml"},"referenced_works_count":22,"referenced_works":["https://openalex.org/W1487127700","https://openalex.org/W1500588313","https://openalex.org/W1571443838","https://openalex.org/W1858298306","https://openalex.org/W1978023077","https://openalex.org/W2006850277","https://openalex.org/W2042809874","https://openalex.org/W2082761088","https://openalex.org/W2093324968","https://openalex.org/W2102977948","https://openalex.org/W2107161871","https://openalex.org/W2121693658","https://openalex.org/W2141103690","https://openalex.org/W2150367199","https://openalex.org/W2150446927","https://openalex.org/W2151226865","https://openalex.org/W2156102255","https://openalex.org/W2160676090","https://openalex.org/W2165092969","https://openalex.org/W2166042980","https://openalex.org/W2166211466","https://openalex.org/W2166570577"],"related_works":["https://openalex.org/W2081546500","https://openalex.org/W2096594537","https://openalex.org/W2289514765","https://openalex.org/W6989929920","https://openalex.org/W2007038009","https://openalex.org/W162638620","https://openalex.org/W2142237039","https://openalex.org/W2577024873","https://openalex.org/W1522048714","https://openalex.org/W3174772508"],"abstract_inverted_index":{"Problem":[0],"statement:":[1],"The":[2],"assistance":[3],"of":[4,9,27,108,120,137,145,151,171,179,186,188],"person":[5],"with":[6],"limited":[7],"ability":[8],"arm":[10,29,52,154],"movement":[11],"is":[12,18],"necessary":[13],"for":[14],"rehabilitation":[15,187],"reasons.This":[16],"aid":[17],"required":[19],"not":[20],"only":[21],"to":[22,36,57,79,91,116,156],"cover":[23],"the":[24,28,68,77,106,109,121,125,143,146,166,169,172,177],"human":[25,70,81,153],"performances":[26,170],"in":[30,101,182],"motion":[31,127],"and":[32,53,62,111,168,190],"force":[33],"but":[34],"also":[35],"have":[37],"a":[38,46,50,54,130,149,152,183],"strictly":[39],"stable":[40],"dynamics.In":[41],"this":[42,102],"study,":[43],"we":[44],"proposed":[45,87,147,173],"cooperative":[47,157],"system":[48,123],"between":[49,105],"disabled":[51,69,191],"robotic":[55,122,159],"manipulator":[56,78,160],"reach":[58],"such":[59],"objectives.Desired":[60],"positions":[61],"contact":[63],"forces":[64],"were":[65,74,86,140],"imposed":[66],"by":[67,76],"whereas":[71],"appropriate":[72],"torques":[73],"applied":[75],"follow":[80],"intension.Approach:":[82],"Various":[83],"control":[84,94,97],"strategies":[85],"during":[88],"recent":[89],"years":[90],"solve":[92],"position/force":[93],"problem.The":[95],"impedance":[96],"concept":[98],"was":[99,114,161],"used":[100],"study.A":[103],"relationship":[104],"dynamics":[107],"robot":[110],"its":[112],"energy":[113],"developed":[115],"derive":[117],"stability":[118,139,167],"conditions":[119,136],"at":[124],"constrained":[126,158],"phase":[128],"using":[129],"suitable":[131],"Lyapunov":[132],"approach.Results:":[133],"New":[134],"sufficient":[135],"asymptotic":[138],"developed.To":[141],"prove":[142],"efficiency":[144],"approach,":[148],"prototype":[150],"coupled":[155],"used.The":[162],"simulation":[163],"results":[164],"showed":[165,176],"approach.Conclusion:":[174],"Results":[175],"possibility":[178],"their":[180],"use":[181],"real":[184],"context":[185],"injured":[189],"people.":[192]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":8}],"updated_date":"2026-10-31T12:09:11.096373","created_date":"2016-06-24T00:00:00"}