{"id":"https://openalex.org/W2965209266","doi":"https://doi.org/10.1017/s0263574719001188","title":"Internal Model Control and Experimental Study of Ankle Rehabilitation Robot","display_name":"Internal Model Control and Experimental Study of Ankle Rehabilitation Robot","publication_year":2019,"publication_date":"2019-07-29","ids":{"openalex":"https://openalex.org/W2965209266","doi":"https://doi.org/10.1017/s0263574719001188","mag":"2965209266"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574719001188","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574719001188","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/A5100363648","display_name":"Lan Wang","orcid":"https://orcid.org/0000-0002-4157-1657"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lan Wang","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, Heilongjiang Province, PRChina E-mails:"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, Heilongjiang Province, PRChina E-mails:","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046102410","display_name":"Ying Chang","orcid":"https://orcid.org/0000-0002-3612-7607"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Ying Chang","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, Heilongjiang Province, PRChina E-mails:"],"raw_orcid":"https://orcid.org/0000-0002-3612-7607","affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, Heilongjiang Province, PRChina E-mails:","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102182807","display_name":"Haitao Zhu","orcid":null},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haitao Zhu","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, Heilongjiang Province, PRChina E-mails:"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, Heilongjiang Province, PRChina E-mails:","institution_ids":["https://openalex.org/I151727225"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5046102410"],"corresponding_institution_ids":["https://openalex.org/I151727225"],"apc_list":null,"apc_paid":null,"fwci":0.5808,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.64505792,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"38","issue":"5","first_page":"940","last_page":"956"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9994999766349792,"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":0.9994999766349792,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9908999800682068,"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/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9825999736785889,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7544055581092834},{"id":"https://openalex.org/keywords/internal-model","display_name":"Internal model","score":0.5936826467514038},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5402426719665527},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5306714177131653},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5001006126403809},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.4954787492752075},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.47407713532447815},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4482618570327759},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.44494912028312683},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4094073474407196},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.40531402826309204},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.395151287317276},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2050577998161316},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11008355021476746}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7544055581092834},{"id":"https://openalex.org/C28427503","wikidata":"https://www.wikidata.org/wiki/Q13580300","display_name":"Internal model","level":3,"score":0.5936826467514038},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5402426719665527},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5306714177131653},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5001006126403809},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.4954787492752075},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.47407713532447815},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4482618570327759},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.44494912028312683},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4094073474407196},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.40531402826309204},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.395151287317276},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2050577998161316},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11008355021476746},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574719001188","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574719001188","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/16","score":0.7699999809265137,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W1517388918","https://openalex.org/W1981339345","https://openalex.org/W1984887063","https://openalex.org/W2003536254","https://openalex.org/W2019566066","https://openalex.org/W2020327448","https://openalex.org/W2023730446","https://openalex.org/W2026500972","https://openalex.org/W2030021395","https://openalex.org/W2051924454","https://openalex.org/W2070140943","https://openalex.org/W2086541014","https://openalex.org/W2101892505","https://openalex.org/W2102911553","https://openalex.org/W2104992636","https://openalex.org/W2119200271","https://openalex.org/W2134784230","https://openalex.org/W2136852164","https://openalex.org/W2144930761","https://openalex.org/W2147582248","https://openalex.org/W2147800058","https://openalex.org/W2147809815","https://openalex.org/W2166271005","https://openalex.org/W2170274344","https://openalex.org/W2175243926","https://openalex.org/W2275427274","https://openalex.org/W2408840934","https://openalex.org/W2564095708","https://openalex.org/W2591769965","https://openalex.org/W2743463877","https://openalex.org/W2749822057","https://openalex.org/W2884162194","https://openalex.org/W2892319043","https://openalex.org/W4232355614","https://openalex.org/W6645588100","https://openalex.org/W6681539362"],"related_works":["https://openalex.org/W1896148996","https://openalex.org/W1941703695","https://openalex.org/W3131574667","https://openalex.org/W4323768008","https://openalex.org/W2387641482","https://openalex.org/W4248382324","https://openalex.org/W2087334391","https://openalex.org/W1587156914","https://openalex.org/W2371360398","https://openalex.org/W1983839740"],"abstract_inverted_index":{"SUMMARY":[0],"In":[1],"the":[2,5,34,40,46,69,79,86,116,122,139,145,157],"present":[3,80],"work,":[4],"ankle":[6],"rehabilitation":[7],"robot":[8,35],"(ARR)":[9],"dynamic":[10,24,124],"model":[11,32,38,59],"that":[12,85],"implements":[13],"a":[14,52],"new":[15],"series":[16],"of":[17,55,68,121,141,144,160],"connection":[18],"control":[19,60,66,133,152],"strategies":[20],"is":[21,63,74],"introduced.":[22],"The":[23,65,82,135],"models":[25],"are":[26,129],"presented":[27],"in":[28,78,131],"this":[29],"regard.":[30],"This":[31,154],"analyzes":[33],"LuGre":[36],"friction":[37],"and":[39,50,76,102,113,118,125,148],"nonlinear":[41],"disturbance":[42],"model.":[43],"To":[44],"improve":[45],"ARR":[47],"system\u2019s":[48],"rapidity":[49],"robustness,":[51],"composite":[53,87],"2-degree":[54],"freedom":[56],"(2-DOF)":[57],"internal":[58],"(IMC)":[61],"controller":[62,73,90],"presented.":[64],"performance":[67],"compound":[70],"2-DOF":[71,88],"IMC":[72,89],"simulated":[75],"analyzed":[77],"work.":[81],"simulation":[83],"shows":[84],"has":[91],"high":[92],"following":[93,105],"performance.":[94],"For":[95],"practical":[96],"testing":[97],"purposes,":[98],"1-DOF":[99],"passive":[100,142],"training":[101,143,150],"predetermined":[103],"trajectory":[104,147],"have":[106],"been":[107],"completed":[108],"for":[109],"different":[110],"swing":[111],"amplitudes":[112],"frequencies.":[114],"Moreover,":[115],"thrust":[117],"tension":[119],"torque":[120],"robotic":[123],"static":[126],"loading":[127],"characteristics":[128],"studied":[130],"active":[132,151],"mode.":[134],"experimental":[136],"results":[137],"show":[138],"effectiveness":[140],"given":[146],"impedance":[149],"strategy.":[153],"paper":[155],"gives":[156],"specific":[158],"functions":[159],"ARR.":[161]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":3}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
