{"id":"https://openalex.org/W2088709318","doi":"https://doi.org/10.1017/s026357471400099x","title":"Adaptive motion control of arm rehabilitation robot based on impedance identification","display_name":"Adaptive motion control of arm rehabilitation robot based on impedance identification","publication_year":2014,"publication_date":"2014-05-01","ids":{"openalex":"https://openalex.org/W2088709318","doi":"https://doi.org/10.1017/s026357471400099x","mag":"2088709318"},"language":"en","primary_location":{"id":"doi:10.1017/s026357471400099x","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s026357471400099x","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101728361","display_name":"Aiguo Song","orcid":null},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Aiguo Song","raw_affiliation_strings":["School of Instrument Science and Engineering, Southeast University, Nanjing 210096, P. R. China","School of Instrument Science and Engineering, Southeast University, Nanjing 210096, P.R. China"],"affiliations":[{"raw_affiliation_string":"School of Instrument Science and Engineering, Southeast University, Nanjing 210096, P. R. China","institution_ids":["https://openalex.org/I76569877"]},{"raw_affiliation_string":"School of Instrument Science and Engineering, Southeast University, Nanjing 210096, P.R. China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089032482","display_name":"Lizheng Pan","orcid":"https://orcid.org/0000-0002-3698-0122"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lizheng Pan","raw_affiliation_strings":["School of Instrument Science and Engineering, Southeast University, Nanjing 210096, P. R. China","School of Instrument Science and Engineering, Southeast University, Nanjing 210096, P.R. China"],"affiliations":[{"raw_affiliation_string":"School of Instrument Science and Engineering, Southeast University, Nanjing 210096, P. R. China","institution_ids":["https://openalex.org/I76569877"]},{"raw_affiliation_string":"School of Instrument Science and Engineering, Southeast University, Nanjing 210096, P.R. China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101967305","display_name":"Guozheng Xu","orcid":"https://orcid.org/0000-0001-9973-8408"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guozheng Xu","raw_affiliation_strings":["School of Instrument Science and Engineering, Southeast University, Nanjing 210096, P. R. China","School of Instrument Science and Engineering, Southeast University, Nanjing 210096, P.R. China"],"affiliations":[{"raw_affiliation_string":"School of Instrument Science and Engineering, Southeast University, Nanjing 210096, P. R. China","institution_ids":["https://openalex.org/I76569877"]},{"raw_affiliation_string":"School of Instrument Science and Engineering, Southeast University, Nanjing 210096, P.R. China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100346099","display_name":"Huijun Li","orcid":"https://orcid.org/0000-0003-2966-1569"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huijun Li","raw_affiliation_strings":["School of Instrument Science and Engineering, Southeast University, Nanjing 210096, P. R. China","School of Instrument Science and Engineering, Southeast University, Nanjing 210096, P.R. China"],"affiliations":[{"raw_affiliation_string":"School of Instrument Science and Engineering, Southeast University, Nanjing 210096, P. R. China","institution_ids":["https://openalex.org/I76569877"]},{"raw_affiliation_string":"School of Instrument Science and Engineering, Southeast University, Nanjing 210096, P.R. China","institution_ids":["https://openalex.org/I76569877"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5101728361"],"corresponding_institution_ids":["https://openalex.org/I76569877"],"apc_list":null,"apc_paid":null,"fwci":4.2389,"has_fulltext":false,"cited_by_count":37,"citation_normalized_percentile":{"value":0.94059873,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"33","issue":"9","first_page":"1795","last_page":"1812"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2742","display_name":"Rehabilitation"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},"topics":[{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2742","display_name":"Rehabilitation"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T11274","display_name":"Botulinum Toxin and Related Neurological Disorders","score":0.9695000052452087,"subfield":{"id":"https://openalex.org/subfields/2728","display_name":"Neurology"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9650999903678894,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.6450915336608887},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6203148365020752},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5958159565925598},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5754959583282471},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.5479972958564758},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5259022116661072},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.4930705726146698},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47026878595352173},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.4445035457611084},{"id":"https://openalex.org/keywords/rehabilitation","display_name":"Rehabilitation","score":0.4415634274482727},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.43016955256462097},{"id":"https://openalex.org/keywords/stroke","display_name":"Stroke (engine)","score":0.4243539869785309},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.40176093578338623},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3482324779033661},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2646171748638153},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.23401802778244019},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.10823127627372742},{"id":"https://openalex.org/keywords/physical-therapy","display_name":"Physical therapy","score":0.10707855224609375}],"concepts":[{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.6450915336608887},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6203148365020752},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5958159565925598},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5754959583282471},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.5479972958564758},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5259022116661072},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.4930705726146698},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47026878595352173},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.4445035457611084},{"id":"https://openalex.org/C2778818304","wikidata":"https://www.wikidata.org/wiki/Q1819478","display_name":"Rehabilitation","level":2,"score":0.4415634274482727},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.43016955256462097},{"id":"https://openalex.org/C2780645631","wikidata":"https://www.wikidata.org/wiki/Q671554","display_name":"Stroke (engine)","level":2,"score":0.4243539869785309},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.40176093578338623},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3482324779033661},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2646171748638153},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.23401802778244019},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.10823127627372742},{"id":"https://openalex.org/C1862650","wikidata":"https://www.wikidata.org/wiki/Q186005","display_name":"Physical therapy","level":1,"score":0.10707855224609375},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"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/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s026357471400099x","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s026357471400099x","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/3","score":0.5699999928474426,"display_name":"Good health and well-being"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322769","display_name":"Natural Science Foundation of Jiangsu Province","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W305219788","https://openalex.org/W1986495428","https://openalex.org/W2001537057","https://openalex.org/W2003497936","https://openalex.org/W2013178032","https://openalex.org/W2022787437","https://openalex.org/W2064601668","https://openalex.org/W2073788869","https://openalex.org/W2099423995","https://openalex.org/W2119741025","https://openalex.org/W2124049715","https://openalex.org/W2129677597","https://openalex.org/W2140036652","https://openalex.org/W2140280613","https://openalex.org/W2145098376","https://openalex.org/W2164553222","https://openalex.org/W2165199646","https://openalex.org/W2561111412","https://openalex.org/W6610798190"],"related_works":["https://openalex.org/W2002388147","https://openalex.org/W3098928304","https://openalex.org/W2394883510","https://openalex.org/W2150958483","https://openalex.org/W2922503265","https://openalex.org/W2023324176","https://openalex.org/W3097920840","https://openalex.org/W2165013373","https://openalex.org/W2362018761","https://openalex.org/W2672507148"],"abstract_inverted_index":{"SUMMARY":[0],"There":[1],"is":[2,60,137,145,167,181,199],"increasing":[3],"interest":[4],"in":[5,26,45],"using":[6],"rehabilitation":[7,14,77,117,132],"robots":[8],"to":[9,34,62,69,114,147],"assist":[10],"post-stroke":[11,43,87,213],"patients":[12],"during":[13],"therapy.":[15],"The":[16],"motion":[17,52],"control":[18,53,98,106,112,115,238],"of":[19,29,37,41,66,86,102,130,143,154,172,175,187,211,234],"the":[20,27,35,38,42,46,50,67,71,76,84,116,131,140,149,155,173,176,185,188,194,202,207,212,222,226,230,235],"robot":[21,68,118,133],"plays":[22],"an":[23,91,96,103,109],"important":[24],"role":[25],"process":[28],"functional":[30,208],"recovery":[31,48,209,216],"training.":[32],"Due":[33],"change":[36],"arm":[39,89,136,177],"impedance":[40,92,178],"patient":[44,88],"passive":[47],"training,":[49],"conventional":[51],"based":[54],"on":[55,221],"a":[56],"proportional-integral":[57],"(PI)":[58],"controller":[59],"difficult":[61],"produce":[63],"smooth":[64],"movement":[65],"track":[70],"designed":[72],"trajectory":[73],"set":[74],"by":[75],"therapist.":[78],"In":[79,191],"this":[80,192],"paper,":[81,193],"we":[82],"model":[83],"dynamics":[85],"as":[90,201],"model,":[93,179],"and":[94,108,124,134,139,151,225,232],"propose":[95],"adaptive":[97,104,110,163,237],"scheme,":[99],"which":[100,180],"consists":[101],"PI":[105],"algorithm":[107],"damping":[111],"algorithm,":[113],"moving":[119],"along":[120],"predefined":[121],"trajectories":[122],"stably":[123],"smoothly.":[125],"An":[126],"equivalent":[127],"two-port":[128],"circuit":[129],"human":[135],"built,":[138],"passivity":[141],"theory":[142],"circuits":[144],"used":[146,182,200],"analyze":[148],"stability":[150],"smoothness":[152],"performance":[153],"robot.":[156],"A":[157],"slide":[158],"Least":[159],"Mean":[160],"Square":[161],"with":[162],"window":[164],"(SLMS-AW)":[165],"method":[166],"presented":[168],"for":[169,183,206],"on-line":[170],"estimation":[171],"parameters":[174],"adjusting":[184],"gains":[186],"PI-damping":[189],"controller.":[190],"Barrett":[195],"WAM":[196,223],"Arm":[197],"manipulator":[198],"main":[203],"hardware":[204],"platform":[205],"training":[210,217],"patient.":[214],"Passive":[215],"has":[218],"been":[219],"implemented":[220],"Arm,":[224],"experimental":[227],"results":[228],"demonstrate":[229],"effectiveness":[231],"potential":[233],"proposed":[236],"strategies.":[239]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":8},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}