{"id":"https://openalex.org/W4404283491","doi":"https://doi.org/10.1108/ir-06-2024-0248","title":"The sliding mode controller with composite reaching law for upper limb rehabilitation robot","display_name":"The sliding mode controller with composite reaching law for upper limb rehabilitation robot","publication_year":2024,"publication_date":"2024-11-12","ids":{"openalex":"https://openalex.org/W4404283491","doi":"https://doi.org/10.1108/ir-06-2024-0248"},"language":"en","primary_location":{"id":"doi:10.1108/ir-06-2024-0248","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-06-2024-0248","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: the international journal of robotics research and application","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/A5044519513","display_name":"Peng Wang","orcid":"https://orcid.org/0000-0001-8573-5708"},"institutions":[{"id":"https://openalex.org/I4210131756","display_name":"Zhejiang Business Technology Institute","ror":"https://ror.org/03yh3e798","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210131756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peng Wang","raw_affiliation_strings":["Mechanical Engineering College, Zhejiang Business Technology Institute, Ningbo, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering College, Zhejiang Business Technology Institute, Ningbo, China","institution_ids":["https://openalex.org/I4210131756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021336755","display_name":"Luyu Liu","orcid":"https://orcid.org/0009-0004-2322-1428"},"institutions":[{"id":"https://openalex.org/I100188998","display_name":"Harbin University of Science and Technology","ror":"https://ror.org/04e6y1282","country_code":"CN","type":"education","lineage":["https://openalex.org/I100188998"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Luyu Liu","raw_affiliation_strings":["School of Automation, Harbin University of Science and Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Harbin University of Science and Technology, Harbin, China","institution_ids":["https://openalex.org/I100188998"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103215282","display_name":"Fanghao Nan","orcid":"https://orcid.org/0009-0002-1114-1549"},"institutions":[{"id":"https://openalex.org/I100188998","display_name":"Harbin University of Science and Technology","ror":"https://ror.org/04e6y1282","country_code":"CN","type":"education","lineage":["https://openalex.org/I100188998"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fanghao Nan","raw_affiliation_strings":["School of Automation, Harbin University of Science and Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Harbin University of Science and Technology, Harbin, China","institution_ids":["https://openalex.org/I100188998"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055050920","display_name":"Renquan Dong","orcid":"https://orcid.org/0000-0002-6772-9037"},"institutions":[{"id":"https://openalex.org/I100188998","display_name":"Harbin University of Science and Technology","ror":"https://ror.org/04e6y1282","country_code":"CN","type":"education","lineage":["https://openalex.org/I100188998"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"RenQuan Dong","raw_affiliation_strings":["School of Mechanical Power Engineering, Harbin University of Science and Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Power Engineering, Harbin University of Science and Technology, Harbin, China","institution_ids":["https://openalex.org/I100188998"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.4081,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.67936178,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":"52","issue":"2","first_page":"277","last_page":"286"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9976999759674072,"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":0.9976999759674072,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9890000224113464,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9884999990463257,"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/composite-number","display_name":"Composite number","score":0.5423385500907898},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5244938731193542},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.5210980176925659},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.4986855983734131},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.46560126543045044},{"id":"https://openalex.org/keywords/rehabilitation","display_name":"Rehabilitation","score":0.4484524726867676},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4274975657463074},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.37616580724716187},{"id":"https://openalex.org/keywords/law","display_name":"Law","score":0.3473585247993469},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.2317245602607727},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20838400721549988},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15357446670532227},{"id":"https://openalex.org/keywords/physical-therapy","display_name":"Physical therapy","score":0.1395646333694458},{"id":"https://openalex.org/keywords/political-science","display_name":"Political science","score":0.1371689736843109},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.10372540354728699},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.07234606146812439}],"concepts":[{"id":"https://openalex.org/C104779481","wikidata":"https://www.wikidata.org/wiki/Q50707","display_name":"Composite number","level":2,"score":0.5423385500907898},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5244938731193542},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.5210980176925659},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.4986855983734131},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.46560126543045044},{"id":"https://openalex.org/C2778818304","wikidata":"https://www.wikidata.org/wiki/Q1819478","display_name":"Rehabilitation","level":2,"score":0.4484524726867676},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4274975657463074},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.37616580724716187},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.3473585247993469},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.2317245602607727},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20838400721549988},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15357446670532227},{"id":"https://openalex.org/C1862650","wikidata":"https://www.wikidata.org/wiki/Q186005","display_name":"Physical therapy","level":1,"score":0.1395646333694458},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.1371689736843109},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.10372540354728699},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.07234606146812439},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1108/ir-06-2024-0248","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-06-2024-0248","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: the international journal of robotics research and application","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W2018918594","https://openalex.org/W2061653522","https://openalex.org/W2146356627","https://openalex.org/W2209069728","https://openalex.org/W2395228928","https://openalex.org/W2560492373","https://openalex.org/W2609154869","https://openalex.org/W2757730132","https://openalex.org/W2773099762","https://openalex.org/W2775217332","https://openalex.org/W2804938510","https://openalex.org/W2888416524","https://openalex.org/W2900774998","https://openalex.org/W2914647236","https://openalex.org/W2946356202","https://openalex.org/W2965264179","https://openalex.org/W2970140488","https://openalex.org/W3002252425","https://openalex.org/W3009692809","https://openalex.org/W3016405462","https://openalex.org/W3021688048","https://openalex.org/W3096044642","https://openalex.org/W3110039759","https://openalex.org/W3112530660","https://openalex.org/W3131110021","https://openalex.org/W3134483069","https://openalex.org/W3135231770","https://openalex.org/W3194551619","https://openalex.org/W4207037961","https://openalex.org/W4213120746","https://openalex.org/W4226172414","https://openalex.org/W4281678280","https://openalex.org/W4294325294","https://openalex.org/W4294955843","https://openalex.org/W4317905775","https://openalex.org/W4321484209","https://openalex.org/W4360615060","https://openalex.org/W4387631284","https://openalex.org/W4387733027"],"related_works":["https://openalex.org/W2065866188","https://openalex.org/W2468580946","https://openalex.org/W2064410155","https://openalex.org/W2331071954","https://openalex.org/W2360512056","https://openalex.org/W2365574773","https://openalex.org/W2131103914","https://openalex.org/W4289519383","https://openalex.org/W291986995","https://openalex.org/W2403685834"],"abstract_inverted_index":{"Purpose":[0],"Assisted":[1],"training":[2,22,50,162],"using":[3],"upper":[4,75,102,181,277],"limb":[5,34,76,103,182,278],"rehabilitation":[6,43,77,104,183,279,295],"robots":[7,78],"is":[8,28,39,63,134],"beneficial":[9],"for":[10,41,97,175,218,258],"flaccid":[11],"paralysis":[12],"patients":[13],"in":[14,100,144,151,212],"recovering":[15],"their":[16],"functional":[17],"abilities.":[18],"In":[19,186],"the":[20,24,42,48,67,91,101,115,120,127,131,138,145,152,157,161,165,176,187,194,200,207,210,216,219,224,232,254,259,267,272,284,291],"assisted":[21],"mode,":[23],"patient\u2019s":[25],"motor":[26],"ability":[27],"limited":[29],"by":[30,80,164,227,235],"factors":[31],"such":[32,83],"as":[33,84],"muscle":[35],"tension,":[36],"and":[37,95,130,155,230,248,264,270,289],"it":[38,256],"prone":[40],"robot":[44,105,184],"to":[45,65,136,193,222,262],"deviate":[46],"from":[47],"prescribed":[49],"trajectory.":[51],"A":[52],"sliding":[53,122,225,240,268],"mode":[54,123,241],"control":[55,153,166,196,288],"method":[56,171,197,211],"based":[57,113,205,244],"on":[58,114,206,245,266],"a":[59,107,173],"fixed":[60,108],"time":[61,109,140,217,255],"observer":[62,110],"proposed":[64,135,170],"address":[66],"problem":[68,92],"of":[69,74,93,141,160,180,276,286,293],"delayed":[70],"trajectory":[71,163,177,189,273,287],"tracking":[72,159,178,190,274],"response":[73,233],"caused":[79],"external":[81,98],"disturbances":[82,99],"patient":[85],"limbs.":[86],"Design/methodology/approach":[87],"First,":[88],"aiming":[89],"at":[90],"estimating":[94],"compensating":[96],"system,":[106],"was":[111],"designed":[112],"robot\u2019s":[116],"dynamic":[117],"model.":[118],"Second,":[119],"composite":[121,202,239],"reaching":[124,203],"law":[125,204,243],"combining":[126],"smooth":[128,246],"function":[129,133,247,251],"power-exponential":[132],"shorten":[137],"convergence":[139],"system":[142,220,260],"states":[143],"startup":[146],"phase,":[147],"thereby":[148],"reducing":[149],"chattering":[150],"process":[154],"realizing":[156],"real-time":[158],"system.":[167],"Findings":[168],"The":[169,238],"provides":[172],"solution":[174],"speed":[179,234,275],"controllers.":[185],"circular":[188],"control,":[191],"compared":[192],"sliding-mode":[195],"combined":[198],"with":[199],"variable-exponential":[201],"fixed-time":[208],"observer,":[209],"this":[213],"paper":[214],"reduces":[215],"state":[221,261],"reach":[223,263],"surface":[226,269],"0.89":[228],"s":[229],"improves":[231,283],"0.66%.":[236],"Originality/value":[237],"approach":[242],"power":[249],"exponent":[250],"can":[252],"reduce":[253],"takes":[257],"remain":[265],"improve":[271],"robots.":[280],"This":[281],"controller":[282],"accuracy":[285],"ensures":[290],"robustness":[292],"auxiliary":[294],"training.":[296]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
