{"id":"https://openalex.org/W4403469499","doi":"https://doi.org/10.1017/s0263574724001668","title":"Lower limb exoskeleton for gait rehabilitation with adaptive nonsingular sliding mode control","display_name":"Lower limb exoskeleton for gait rehabilitation with adaptive nonsingular sliding mode control","publication_year":2024,"publication_date":"2024-10-16","ids":{"openalex":"https://openalex.org/W4403469499","doi":"https://doi.org/10.1017/s0263574724001668"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574724001668","is_oa":true,"landing_page_url":"https://doi.org/10.1017/s0263574724001668","pdf_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/0310A56558887A91AA1AEF5FC7C87A81/S0263574724001668a.pdf/div-class-title-lower-limb-exoskeleton-for-gait-rehabilitation-with-adaptive-nonsingular-sliding-mode-control-div.pdf","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":true,"oa_status":"bronze","oa_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/0310A56558887A91AA1AEF5FC7C87A81/S0263574724001668a.pdf/div-class-title-lower-limb-exoskeleton-for-gait-rehabilitation-with-adaptive-nonsingular-sliding-mode-control-div.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5092909963","display_name":"Daniel Centeno-Barreda","orcid":"https://orcid.org/0009-0006-7948-9532"},"institutions":[{"id":"https://openalex.org/I4210090124","display_name":"Tecnol\u00f3gico Nacional de M\u00e9xico","ror":"https://ror.org/00davry38","country_code":"MX","type":"government","lineage":["https://openalex.org/I1302736544","https://openalex.org/I4210090124","https://openalex.org/I4405258672"]},{"id":"https://openalex.org/I59361560","display_name":"Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34","country_code":"MX","type":"education","lineage":["https://openalex.org/I59361560"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Daniel Centeno-Barreda","raw_affiliation_strings":["Center for Research and Advanced Studies of National Polytechnic Institute, Mexico City, Mexico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Research and Advanced Studies of National Polytechnic Institute, Mexico City, Mexico","institution_ids":["https://openalex.org/I4210090124","https://openalex.org/I59361560"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032756462","display_name":"Sergio Salazar","orcid":"https://orcid.org/0000-0002-5089-1791"},"institutions":[{"id":"https://openalex.org/I4210090124","display_name":"Tecnol\u00f3gico Nacional de M\u00e9xico","ror":"https://ror.org/00davry38","country_code":"MX","type":"government","lineage":["https://openalex.org/I1302736544","https://openalex.org/I4210090124","https://openalex.org/I4405258672"]},{"id":"https://openalex.org/I59361560","display_name":"Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34","country_code":"MX","type":"education","lineage":["https://openalex.org/I59361560"]}],"countries":["MX"],"is_corresponding":true,"raw_author_name":"Sergio Salazar-Cruz","raw_affiliation_strings":["Center for Research and Advanced Studies of National Polytechnic Institute, Mexico City, Mexico"],"raw_orcid":"https://orcid.org/0000-0002-5089-1791","affiliations":[{"raw_affiliation_string":"Center for Research and Advanced Studies of National Polytechnic Institute, Mexico City, Mexico","institution_ids":["https://openalex.org/I4210090124","https://openalex.org/I59361560"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026194385","display_name":"Ricardo L\u00f3pez-Guti\u00e9rrez","orcid":"https://orcid.org/0000-0001-5326-5342"},"institutions":[{"id":"https://openalex.org/I4210163111","display_name":"Secretar\u00eda de Ciencia, Humanidades, Tecnolog\u00eda e Innovaci\u00f3n","ror":"https://ror.org/059ex5q34","country_code":"MX","type":"government","lineage":["https://openalex.org/I4210163111"]},{"id":"https://openalex.org/I68368234","display_name":"Centro de Investigaci\u00f3n y de Estudios Avanzados del Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/009eqmr18","country_code":"MX","type":"facility","lineage":["https://openalex.org/I59361560","https://openalex.org/I68368234"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Ricardo L\u00f3pez-Guti\u00e9rrez","raw_affiliation_strings":["CONACYT-CINVESTAV, Mexico City, Mexico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CONACYT-CINVESTAV, Mexico City, Mexico","institution_ids":["https://openalex.org/I68368234","https://openalex.org/I4210163111"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108328093","display_name":"Yukio Rosales-Luengas","orcid":null},"institutions":[{"id":"https://openalex.org/I4210090124","display_name":"Tecnol\u00f3gico Nacional de M\u00e9xico","ror":"https://ror.org/00davry38","country_code":"MX","type":"government","lineage":["https://openalex.org/I1302736544","https://openalex.org/I4210090124","https://openalex.org/I4405258672"]},{"id":"https://openalex.org/I59361560","display_name":"Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34","country_code":"MX","type":"education","lineage":["https://openalex.org/I59361560"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Yukio Rosales-Luengas","raw_affiliation_strings":["Center for Research and Advanced Studies of National Polytechnic Institute, Mexico City, Mexico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Research and Advanced Studies of National Polytechnic Institute, Mexico City, Mexico","institution_ids":["https://openalex.org/I4210090124","https://openalex.org/I59361560"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004002307","display_name":"Rogelio Lozano","orcid":"https://orcid.org/0000-0002-5730-6313"},"institutions":[{"id":"https://openalex.org/I4210090124","display_name":"Tecnol\u00f3gico Nacional de M\u00e9xico","ror":"https://ror.org/00davry38","country_code":"MX","type":"government","lineage":["https://openalex.org/I1302736544","https://openalex.org/I4210090124","https://openalex.org/I4405258672"]},{"id":"https://openalex.org/I59361560","display_name":"Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34","country_code":"MX","type":"education","lineage":["https://openalex.org/I59361560"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Rogelio Lozano","raw_affiliation_strings":["Center for Research and Advanced Studies of National Polytechnic Institute, Mexico City, Mexico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Research and Advanced Studies of National Polytechnic Institute, Mexico City, Mexico","institution_ids":["https://openalex.org/I4210090124","https://openalex.org/I59361560"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5032756462"],"corresponding_institution_ids":["https://openalex.org/I4210090124","https://openalex.org/I59361560"],"apc_list":null,"apc_paid":null,"fwci":1.3645,"has_fulltext":true,"cited_by_count":9,"citation_normalized_percentile":{"value":0.79420698,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"42","issue":"11","first_page":"3819","last_page":"3838"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9958000183105469,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9930999875068665,"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/exoskeleton","display_name":"Exoskeleton","score":0.9459518194198608},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.7561753988265991},{"id":"https://openalex.org/keywords/rehabilitation","display_name":"Rehabilitation","score":0.6114785075187683},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.5825552940368652},{"id":"https://openalex.org/keywords/invertible-matrix","display_name":"Invertible matrix","score":0.5336402654647827},{"id":"https://openalex.org/keywords/powered-exoskeleton","display_name":"Powered exoskeleton","score":0.4157809615135193},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.35932067036628723},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3452865779399872},{"id":"https://openalex.org/keywords/physical-therapy","display_name":"Physical therapy","score":0.3119174838066101},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3022390604019165},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.30186063051223755},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19221648573875427},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19205263257026672}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.9459518194198608},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.7561753988265991},{"id":"https://openalex.org/C2778818304","wikidata":"https://www.wikidata.org/wiki/Q1819478","display_name":"Rehabilitation","level":2,"score":0.6114785075187683},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5825552940368652},{"id":"https://openalex.org/C96442724","wikidata":"https://www.wikidata.org/wiki/Q242188","display_name":"Invertible matrix","level":2,"score":0.5336402654647827},{"id":"https://openalex.org/C45391945","wikidata":"https://www.wikidata.org/wiki/Q938523","display_name":"Powered exoskeleton","level":3,"score":0.4157809615135193},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.35932067036628723},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3452865779399872},{"id":"https://openalex.org/C1862650","wikidata":"https://www.wikidata.org/wiki/Q186005","display_name":"Physical therapy","level":1,"score":0.3119174838066101},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3022390604019165},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.30186063051223755},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19221648573875427},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19205263257026672},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574724001668","is_oa":true,"landing_page_url":"https://doi.org/10.1017/s0263574724001668","pdf_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/0310A56558887A91AA1AEF5FC7C87A81/S0263574724001668a.pdf/div-class-title-lower-limb-exoskeleton-for-gait-rehabilitation-with-adaptive-nonsingular-sliding-mode-control-div.pdf","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":{"id":"doi:10.1017/s0263574724001668","is_oa":true,"landing_page_url":"https://doi.org/10.1017/s0263574724001668","pdf_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/0310A56558887A91AA1AEF5FC7C87A81/S0263574724001668a.pdf/div-class-title-lower-limb-exoskeleton-for-gait-rehabilitation-with-adaptive-nonsingular-sliding-mode-control-div.pdf","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"},"sustainable_development_goals":[{"score":0.8500000238418579,"display_name":"Life below water","id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4403469499.pdf","grobid_xml":"https://content.openalex.org/works/W4403469499.grobid-xml"},"referenced_works_count":26,"referenced_works":["https://openalex.org/W1988367613","https://openalex.org/W2002189942","https://openalex.org/W2795727968","https://openalex.org/W2943235222","https://openalex.org/W2980139847","https://openalex.org/W3039443613","https://openalex.org/W3080981574","https://openalex.org/W3094074155","https://openalex.org/W3216440402","https://openalex.org/W4200199148","https://openalex.org/W4205343296","https://openalex.org/W4206252239","https://openalex.org/W4206452485","https://openalex.org/W4210318776","https://openalex.org/W4210939600","https://openalex.org/W4293088930","https://openalex.org/W4297491132","https://openalex.org/W4379033793","https://openalex.org/W4379054206","https://openalex.org/W4386896092","https://openalex.org/W4387680556","https://openalex.org/W4388857054","https://openalex.org/W4389094138","https://openalex.org/W4392173285","https://openalex.org/W4395116092","https://openalex.org/W6651016873"],"related_works":["https://openalex.org/W1989011507","https://openalex.org/W2908002960","https://openalex.org/W2808226217","https://openalex.org/W2015794229","https://openalex.org/W2893851384","https://openalex.org/W2780323031","https://openalex.org/W2753647732","https://openalex.org/W4388283394","https://openalex.org/W2120000215","https://openalex.org/W2062010076"],"abstract_inverted_index":{"Abstract":[0],"This":[1,34],"paper":[2],"introduces":[3],"a":[4,19,83,99],"lower":[5],"limb":[6],"exoskeleton":[7,107],"for":[8,102],"gait":[9],"rehabilitation,":[10],"which":[11],"has":[12],"been":[13],"designed":[14],"to":[15,18,38,78,115],"be":[16],"adjustable":[17],"wide":[20],"range":[21],"of":[22,46,53,70,124],"patients":[23],"by":[24],"incorporating":[25],"an":[26,91],"extension":[27],"mechanism":[28],"and":[29,42,58,64,129],"series":[30],"elastic":[31],"actuators":[32],"(SEAs).":[33],"configuration":[35],"adapts":[36],"better":[37],"the":[39,43,47,51,67,71,75,79,112,122,125],"user\u2019s":[40,48],"anatomy":[41],"natural":[44],"movements":[45],"joints.":[49],"However,":[50],"inclusion":[52],"SEAs":[54],"increases":[55],"actuator":[56],"mass":[57],"size,":[59],"while":[60],"also":[61],"introducing":[62],"nonlinearities":[63],"changes":[65],"in":[66],"dynamic":[68,81],"response":[69],"exoskeletons.":[72],"To":[73],"address":[74],"challenges":[76],"related":[77],"human\u2013exoskeleton":[80],"interaction,":[82],"nonsingular":[84],"terminal":[85],"sliding":[86],"mode":[87],"control":[88],"that":[89],"integrates":[90],"adaptive":[92],"parameter":[93],"adjustment":[94],"strategy":[95],"is":[96],"proposed,":[97],"offering":[98],"practical":[100],"solution":[101],"trajectory":[103],"tracking":[104],"with":[105],"uncertain":[106],"dynamics.":[108],"Simulation":[109],"results":[110],"demonstrate":[111],"algorithm\u2019s":[113],"ability":[114],"estimate":[116],"unknown":[117],"parameters.":[118],"Experimental":[119],"tests":[120],"analyze":[121],"performance":[123],"controller":[126],"against":[127],"uncertainties":[128],"external":[130],"disturbances.":[131]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":5}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}