{"id":"https://openalex.org/W2170421112","doi":"https://doi.org/10.1080/00207720701860037","title":"A novel path planning and control framework for passive resistance therapy with a robot manipulator","display_name":"A novel path planning and control framework for passive resistance therapy with a robot manipulator","publication_year":2008,"publication_date":"2008-04-11","ids":{"openalex":"https://openalex.org/W2170421112","doi":"https://doi.org/10.1080/00207720701860037","mag":"2170421112"},"language":"en","primary_location":{"id":"doi:10.1080/00207720701860037","is_oa":false,"landing_page_url":"https://doi.org/10.1080/00207720701860037","pdf_url":null,"source":{"id":"https://openalex.org/S129640837","display_name":"International Journal of Systems Science","issn_l":"0020-7721","issn":["0020-7721","1464-5319"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Systems Science","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://stars.library.ucf.edu/facultybib2000/111","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5021820083","display_name":"Aman Behal","orcid":"https://orcid.org/0000-0001-8458-1591"},"institutions":[{"id":"https://openalex.org/I106165777","display_name":"University of Central Florida","ror":"https://ror.org/036nfer12","country_code":"US","type":"education","lineage":["https://openalex.org/I106165777"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"A. Behal","raw_affiliation_strings":["\n EECS and NanoScience Technology Center, University of Central Florida, Orlando, FL 32826, USA","EECS and NanoScience Technology Center, University of Central Florida, Orlando, FL 32826, USA"],"affiliations":[{"raw_affiliation_string":"\n EECS and NanoScience Technology Center, University of Central Florida, Orlando, FL 32826, USA","institution_ids":["https://openalex.org/I106165777"]},{"raw_affiliation_string":"EECS and NanoScience Technology Center, University of Central Florida, Orlando, FL 32826, USA","institution_ids":["https://openalex.org/I106165777"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113331986","display_name":"J. Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J. Chen","raw_affiliation_strings":["\n Naval Architecture and Marine Engg., University of Michigan, Ann Arbor, MI 48109, USA","Naval Architecture and Marine Engg., University of Michigan, Ann Arbor, MI 48109, USA"],"affiliations":[{"raw_affiliation_string":"\n Naval Architecture and Marine Engg., University of Michigan, Ann Arbor, MI 48109, USA","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"Naval Architecture and Marine Engg., University of Michigan, Ann Arbor, MI 48109, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112213851","display_name":"D.M. Dawson","orcid":null},"institutions":[{"id":"https://openalex.org/I8078737","display_name":"Clemson University","ror":"https://ror.org/037s24f05","country_code":"US","type":"education","lineage":["https://openalex.org/I8078737"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"D. M. Dawson","raw_affiliation_strings":["\n Electrical & Computer Engg., Clemson University, Clemson, SC 29634, USA","Electrical & Computer Engg., Clemson University, Clemson, SC 29634, USA"],"affiliations":[{"raw_affiliation_string":"\n Electrical & Computer Engg., Clemson University, Clemson, SC 29634, USA","institution_ids":["https://openalex.org/I8078737"]},{"raw_affiliation_string":"Electrical & Computer Engg., Clemson University, Clemson, SC 29634, USA","institution_ids":["https://openalex.org/I8078737"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5021820083"],"corresponding_institution_ids":["https://openalex.org/I106165777"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.21533307,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":93},"biblio":{"volume":"39","issue":"6","first_page":"639","last_page":"653"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9891999959945679,"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"}},"topics":[{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9891999959945679,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9860000014305115,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.98089998960495,"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/robot","display_name":"Robot","score":0.5912685990333557},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5421974658966064},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5414232611656189},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.4922560751438141},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.46521854400634766},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4459220767021179},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.43785378336906433},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.43467360734939575},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.4324086010456085},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.39713671803474426},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3443855345249176},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.334760844707489}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5912685990333557},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5421974658966064},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5414232611656189},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.4922560751438141},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.46521854400634766},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4459220767021179},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.43785378336906433},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.43467360734939575},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.4324086010456085},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.39713671803474426},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3443855345249176},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.334760844707489},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","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":3,"locations":[{"id":"doi:10.1080/00207720701860037","is_oa":false,"landing_page_url":"https://doi.org/10.1080/00207720701860037","pdf_url":null,"source":{"id":"https://openalex.org/S129640837","display_name":"International Journal of Systems Science","issn_l":"0020-7721","issn":["0020-7721","1464-5319"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Systems Science","raw_type":"journal-article"},{"id":"pmh:oai:stars.library.ucf.edu:facultybib2000-1110","is_oa":true,"landing_page_url":"https://stars.library.ucf.edu/facultybib2000/111","pdf_url":null,"source":{"id":"https://openalex.org/S4210172555","display_name":"Journal of International Crisis and Risk Communication Research","issn_l":"2576-0017","issn":["2576-0017","2576-0025"],"is_oa":true,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Faculty Bibliography 2000s","raw_type":"text"},{"id":"pmh:oai:stars.library.ucf.edu:scopus2000-11118","is_oa":true,"landing_page_url":"https://stars.library.ucf.edu/scopus2000/10119","pdf_url":null,"source":{"id":"https://openalex.org/S4210172555","display_name":"Journal of International Crisis and Risk Communication Research","issn_l":"2576-0017","issn":["2576-0017","2576-0025"],"is_oa":true,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Scopus Export 2000s","raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:stars.library.ucf.edu:facultybib2000-1110","is_oa":true,"landing_page_url":"https://stars.library.ucf.edu/facultybib2000/111","pdf_url":null,"source":{"id":"https://openalex.org/S4210172555","display_name":"Journal of International Crisis and Risk Communication Research","issn_l":"2576-0017","issn":["2576-0017","2576-0025"],"is_oa":true,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Faculty Bibliography 2000s","raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W18288968","https://openalex.org/W582781894","https://openalex.org/W1491272798","https://openalex.org/W1496777766","https://openalex.org/W1540935623","https://openalex.org/W1556923582","https://openalex.org/W1561421719","https://openalex.org/W1966369671","https://openalex.org/W1994351320","https://openalex.org/W2097467365","https://openalex.org/W2103120971","https://openalex.org/W2103666635","https://openalex.org/W2110144538","https://openalex.org/W2113873479","https://openalex.org/W2134927525","https://openalex.org/W2134936299","https://openalex.org/W2135464393","https://openalex.org/W2143461358","https://openalex.org/W2144535736","https://openalex.org/W2169221149","https://openalex.org/W2171649388","https://openalex.org/W2492642174","https://openalex.org/W2561111412","https://openalex.org/W2752932982","https://openalex.org/W2753362324","https://openalex.org/W4230979734","https://openalex.org/W6681703661"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W1964490400","https://openalex.org/W1968518598","https://openalex.org/W229301543","https://openalex.org/W3117511302","https://openalex.org/W2161157331","https://openalex.org/W2914399220","https://openalex.org/W2009651338"],"abstract_inverted_index":{"In":[0],"this":[1],"article,":[2],"we":[3],"present":[4],"a":[5,14,44,63],"paradigm":[6],"for":[7,13],"safe":[8],"path":[9,46],"generation":[10],"and":[11],"control":[12],"robotic":[15],"manipulator":[16],"such":[17],"that":[18],"it":[19,80],"provides":[20],"programmable":[21],"passive":[22,64],"resistance":[23],"therapy":[24],"to":[25,83],"patients":[26],"with":[27],"deficits":[28],"in":[29,53,85],"the":[30,34,41,54,57,60,86,90,99,105,110,113],"upper":[31],"extremities.":[32],"When":[33],"patient":[35],"applies":[36],"an":[37],"interaction":[38,108],"force":[39],"at":[40],"robot's":[42,55],"end-effector,":[43],"dynamic":[45],"generator":[47],"time":[48],"parameterises":[49],"any":[50],"therapist-specified":[51],"contour":[52],"workspace-thus,":[56],"robot":[58,87,107],"mimics":[59],"dynamics":[61],"of":[62,102],"impedance":[65],"whose":[66],"anisotropy":[67],"vector":[68],"can":[69],"be":[70],"continuously":[71],"reconfigured.":[72],"The":[73],"proposed":[74,91],"algorithm":[75],"is":[76,81],"easily":[77],"implementable":[78],"because":[79],"robust":[82],"uncertainty":[84],"dynamics.":[88],"Moreover,":[89],"strategy":[92],"also":[93],"guarantees":[94],"user":[95,111],"safety":[96],"by":[97],"maintaining":[98],"net":[100],"flow":[101],"energy":[103],"during":[104],"human":[106],"from":[109],"towards":[112],"manipulator.":[114]},"counts_by_year":[{"year":2021,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}