{"id":"https://openalex.org/W4289544947","doi":"https://doi.org/10.1017/s0263574722001084","title":"RBF neural network-based admittance PD control for knee rehabilitation robot","display_name":"RBF neural network-based admittance PD control for knee rehabilitation robot","publication_year":2022,"publication_date":"2022-08-03","ids":{"openalex":"https://openalex.org/W4289544947","doi":"https://doi.org/10.1017/s0263574722001084"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574722001084","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574722001084","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/A5028294725","display_name":"Karam Almaghout","orcid":"https://orcid.org/0000-0002-4757-3143"},"institutions":[{"id":"https://openalex.org/I23946033","display_name":"University of Tehran","ror":"https://ror.org/05vf56z40","country_code":"IR","type":"education","lineage":["https://openalex.org/I23946033"]},{"id":"https://openalex.org/I4210116741","display_name":"Innopolis University","ror":"https://ror.org/02b7jh107","country_code":"RU","type":"education","lineage":["https://openalex.org/I4210116741"]}],"countries":["IR","RU"],"is_corresponding":false,"raw_author_name":"Karam Almaghout","raw_affiliation_strings":["Advanced Service Robots (ASR) Lab., Department of Mechatronics Engineering, Faculty of New Sciences and Technologies, University of Tehran, Tehran, Iran","Institute of Robotics and Computer Vision, Innopolis University, Innopolis, Russia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Advanced Service Robots (ASR) Lab., Department of Mechatronics Engineering, Faculty of New Sciences and Technologies, University of Tehran, Tehran, Iran","institution_ids":["https://openalex.org/I23946033"]},{"raw_affiliation_string":"Institute of Robotics and Computer Vision, Innopolis University, Innopolis, Russia","institution_ids":["https://openalex.org/I4210116741"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085369035","display_name":"Bahram Tarvirdizadeh","orcid":"https://orcid.org/0000-0001-9851-3805"},"institutions":[{"id":"https://openalex.org/I23946033","display_name":"University of Tehran","ror":"https://ror.org/05vf56z40","country_code":"IR","type":"education","lineage":["https://openalex.org/I23946033"]}],"countries":["IR"],"is_corresponding":true,"raw_author_name":"Bahram Tarvirdizadeh","raw_affiliation_strings":["Advanced Service Robots (ASR) Lab., Department of Mechatronics Engineering, Faculty of New Sciences and Technologies, University of Tehran, Tehran, Iran"],"raw_orcid":"https://orcid.org/0000-0001-9851-3805","affiliations":[{"raw_affiliation_string":"Advanced Service Robots (ASR) Lab., Department of Mechatronics Engineering, Faculty of New Sciences and Technologies, University of Tehran, Tehran, Iran","institution_ids":["https://openalex.org/I23946033"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005143839","display_name":"Khalil Alipour","orcid":"https://orcid.org/0000-0003-4456-1179"},"institutions":[{"id":"https://openalex.org/I23946033","display_name":"University of Tehran","ror":"https://ror.org/05vf56z40","country_code":"IR","type":"education","lineage":["https://openalex.org/I23946033"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Khalil Alipour","raw_affiliation_strings":["Advanced Service Robots (ASR) Lab., Department of Mechatronics Engineering, Faculty of New Sciences and Technologies, University of Tehran, Tehran, Iran"],"raw_orcid":"https://orcid.org/0000-0003-4456-1179","affiliations":[{"raw_affiliation_string":"Advanced Service Robots (ASR) Lab., Department of Mechatronics Engineering, Faculty of New Sciences and Technologies, University of Tehran, Tehran, Iran","institution_ids":["https://openalex.org/I23946033"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5008054200","display_name":"Alireza Hadi","orcid":"https://orcid.org/0000-0002-3985-1350"},"institutions":[{"id":"https://openalex.org/I23946033","display_name":"University of Tehran","ror":"https://ror.org/05vf56z40","country_code":"IR","type":"education","lineage":["https://openalex.org/I23946033"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Alireza Hadi","raw_affiliation_strings":["Advanced Service Robots (ASR) Lab., Department of Mechatronics Engineering, Faculty of New Sciences and Technologies, University of Tehran, Tehran, Iran"],"raw_orcid":"https://orcid.org/0000-0002-3985-1350","affiliations":[{"raw_affiliation_string":"Advanced Service Robots (ASR) Lab., Department of Mechatronics Engineering, Faculty of New Sciences and Technologies, University of Tehran, Tehran, Iran","institution_ids":["https://openalex.org/I23946033"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5085369035"],"corresponding_institution_ids":["https://openalex.org/I23946033"],"apc_list":null,"apc_paid":null,"fwci":0.8212,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.73345548,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"40","issue":"12","first_page":"4512","last_page":"4534"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9990000128746033,"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":0.9990000128746033,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9929999709129333,"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/T10919","display_name":"Neurological disorders and treatments","score":0.9898999929428101,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/admittance","display_name":"Admittance","score":0.7218590378761292},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6539250016212463},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6271496415138245},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6253645420074463},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5773478150367737},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5384177565574646},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5223520994186401},{"id":"https://openalex.org/keywords/rehabilitation","display_name":"Rehabilitation","score":0.48343145847320557},{"id":"https://openalex.org/keywords/radial-basis-function","display_name":"Radial basis function","score":0.47633272409439087},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.44692888855934143},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.43616536259651184},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3698883652687073},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3628142476081848},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.3571566641330719},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3565652370452881},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3408787250518799},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.21284222602844238},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.1695713996887207},{"id":"https://openalex.org/keywords/physical-therapy","display_name":"Physical therapy","score":0.11282449960708618},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11061403155326843}],"concepts":[{"id":"https://openalex.org/C108811297","wikidata":"https://www.wikidata.org/wiki/Q214518","display_name":"Admittance","level":3,"score":0.7218590378761292},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6539250016212463},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6271496415138245},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6253645420074463},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5773478150367737},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5384177565574646},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5223520994186401},{"id":"https://openalex.org/C2778818304","wikidata":"https://www.wikidata.org/wiki/Q1819478","display_name":"Rehabilitation","level":2,"score":0.48343145847320557},{"id":"https://openalex.org/C98856871","wikidata":"https://www.wikidata.org/wiki/Q1588488","display_name":"Radial basis function","level":3,"score":0.47633272409439087},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.44692888855934143},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.43616536259651184},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3698883652687073},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3628142476081848},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.3571566641330719},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3565652370452881},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3408787250518799},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.21284222602844238},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.1695713996887207},{"id":"https://openalex.org/C1862650","wikidata":"https://www.wikidata.org/wiki/Q186005","display_name":"Physical therapy","level":1,"score":0.11282449960708618},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11061403155326843},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574722001084","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574722001084","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":[{"display_name":"Good health and well-being","score":0.550000011920929,"id":"https://metadata.un.org/sdg/3"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":47,"referenced_works":["https://openalex.org/W1488862115","https://openalex.org/W1958273443","https://openalex.org/W1975051102","https://openalex.org/W1980827688","https://openalex.org/W1987182292","https://openalex.org/W2047439154","https://openalex.org/W2049850553","https://openalex.org/W2080525707","https://openalex.org/W2113421894","https://openalex.org/W2120448463","https://openalex.org/W2120721120","https://openalex.org/W2132773469","https://openalex.org/W2150980830","https://openalex.org/W2209069728","https://openalex.org/W2420367108","https://openalex.org/W2603203224","https://openalex.org/W2609521842","https://openalex.org/W2612632997","https://openalex.org/W2766780768","https://openalex.org/W2771032582","https://openalex.org/W2777897034","https://openalex.org/W2790737285","https://openalex.org/W2794703413","https://openalex.org/W2795727968","https://openalex.org/W2804783771","https://openalex.org/W2911696688","https://openalex.org/W2912698479","https://openalex.org/W2914245726","https://openalex.org/W2943560429","https://openalex.org/W2966272253","https://openalex.org/W2981427042","https://openalex.org/W2995444865","https://openalex.org/W2998560784","https://openalex.org/W3080206723","https://openalex.org/W3095600075","https://openalex.org/W3099132049","https://openalex.org/W3152491979","https://openalex.org/W4214886100","https://openalex.org/W4238586295","https://openalex.org/W4245597795","https://openalex.org/W4297053780","https://openalex.org/W6677774406","https://openalex.org/W6737288036","https://openalex.org/W6745673776","https://openalex.org/W6749119834","https://openalex.org/W6761886160","https://openalex.org/W6843032821"],"related_works":["https://openalex.org/W2200472972","https://openalex.org/W2031643172","https://openalex.org/W2367857055","https://openalex.org/W2047335472","https://openalex.org/W2021013760","https://openalex.org/W2024162929","https://openalex.org/W3180133250","https://openalex.org/W2363278848","https://openalex.org/W2031634947","https://openalex.org/W1999989966"],"abstract_inverted_index":{"Abstract":[0],"Early-stage":[1],"rehabilitation":[2,84],"therapy":[3],"for":[4,87],"post-stroke":[5],"patients":[6],"consists":[7],"of":[8,26,97,124,199,239],"intensive":[9],"and":[10,38,43,80,128,160,173,215,243],"accurate":[11],"training":[12,88],"sessions.":[13],"During":[14],"these":[15,98,228],"sessions,":[16],"the":[17,20,49,53,63,89,95,144,152,162,167,170,179,192,197,200,237,240,248],"therapist":[18,50],"moves":[19],"patient\u2019s":[21],"joint":[22,54,64,91,146,172],"within":[23],"its":[24,245],"range":[25],"motion":[27],"repetitively.":[28],"Patients,":[29],"at":[30],"this":[31,74,78,184],"stage,":[32],"often":[33],"cannot":[34],"control":[35,121,214],"their":[36],"muscles,":[37],"neurological":[39],"disorders":[40],"may":[41,65,70],"occur":[42],"lead":[44],"to":[45,56,108,191],"undesirable":[46,99,176],"movements.":[47,61,100,115],"Thus,":[48,166],"should":[51],"train":[52],"gently":[55],"handle":[57],"any":[58,156],"sudden":[59,157],"involuntary":[60,114],"Otherwise,":[62],"undergo":[66],"excessive":[67],"torques,":[68],"which":[69],"injure":[71],"it.":[72],"In":[73],"paper,":[75],"we":[76,117,205],"address":[77],"case":[79],"develop":[81],"a":[82,119,129,134,148,222],"clinical":[83],"robotic":[85],"system":[86,103],"knee":[90,171],"taking":[92],"into":[93],"account":[94],"occurrence":[96],"The":[101,141,233],"developed":[102],"has":[104],"an":[105,125,175,209,216],"innovative":[106],"mechanism":[107],"measure":[109],"interaction":[110,158],"torques":[111,159],"exerted":[112],"by":[113,133],"Then,":[116,221],"introduce":[118],"new":[120],"approach":[122],"consisting":[123],"admittance":[126,153,202,210,217,241],"controller":[127,131],"proportional-derivative":[130],"augmented":[132],"radial":[135],"basis":[136],"function":[137],"(PD-RBF)":[138],"neural":[139],"network.":[140],"PD-RBF":[142,203,242],"guides":[143],"robot":[145,168,180],"along":[147,182],"predefined":[149,163,193],"trajectory,":[150],"while":[151],"part":[154],"tracks":[155],"updates":[161],"trajectory":[164],"accordingly.":[165],"trains":[169],"once":[174],"movement":[177,185],"occurs":[178],"gets":[181,189],"with":[183],"smoothly,":[186],"then":[187],"it":[188],"back":[190],"trajectory.":[194],"To":[195],"validate":[196],"performance":[198],"proposed":[201],"controller,":[204],"consider":[206],"two":[207],"controllers,":[208],"adaptive":[211],"sliding":[212],"mode":[213],"conventional":[218],"PD":[219],"one.":[220],"compatarive":[223],"study":[224],"is":[225],"conducted":[226],"on":[227],"controllers":[229],"via":[230],"real-world":[231],"experiments.":[232],"obtained":[234],"results":[235],"verify":[236],"efficiency":[238],"prove":[244],"superiority":[246],"over":[247],"other":[249],"aforementioned":[250],"controllers.":[251]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":5},{"year":2022,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}