{"id":"https://openalex.org/W2808707897","doi":"https://doi.org/10.1108/ir-11-2017-0205","title":"Robust adaptive sliding mode control for a human-driven knee joint orthosis","display_name":"Robust adaptive sliding mode control for a human-driven knee joint orthosis","publication_year":2018,"publication_date":"2018-06-15","ids":{"openalex":"https://openalex.org/W2808707897","doi":"https://doi.org/10.1108/ir-11-2017-0205","mag":"2808707897"},"language":"en","primary_location":{"id":"doi:10.1108/ir-11-2017-0205","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-11-2017-0205","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: An International Journal","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/A5067239490","display_name":"Rihab Bkekri","orcid":null},"institutions":[{"id":"https://openalex.org/I4210131288","display_name":"National Engineering School of Tunis","ror":"https://ror.org/03b1zjt31","country_code":"TN","type":"education","lineage":["https://openalex.org/I4210131288","https://openalex.org/I63596082"]}],"countries":["TN"],"is_corresponding":false,"raw_author_name":"Rihab Bkekri","raw_affiliation_strings":["Electrical Engineering Department, Laboratory of Automatic Signal and Image Processing, National Higher Engineering School of Tunis, Monfleury, Tunisia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical Engineering Department, Laboratory of Automatic Signal and Image Processing, National Higher Engineering School of Tunis, Monfleury, Tunisia","institution_ids":["https://openalex.org/I4210131288"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015891333","display_name":"Anouar Benamor","orcid":"https://orcid.org/0000-0002-6429-5579"},"institutions":[{"id":"https://openalex.org/I166928557","display_name":"University of Monastir","ror":"https://ror.org/00nhtcg76","country_code":"TN","type":"education","lineage":["https://openalex.org/I166928557"]},{"id":"https://openalex.org/I4391012590","display_name":"Ecole Nationale d'Ing\u00e9nieurs de Monastir","ror":"https://ror.org/045yr8682","country_code":null,"type":"education","lineage":["https://openalex.org/I166928557","https://openalex.org/I4391012590"]}],"countries":["TN"],"is_corresponding":false,"raw_author_name":"Anouar Benamor","raw_affiliation_strings":["Electrical Engineering, Laboratory of Automatic Signal and Image Processing, National Engineering School of Monastir, Monastir, Tunisia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical Engineering, Laboratory of Automatic Signal and Image Processing, National Engineering School of Monastir, Monastir, Tunisia","institution_ids":["https://openalex.org/I166928557","https://openalex.org/I4391012590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032854915","display_name":"Mohamed Amine Alouane","orcid":null},"institutions":[{"id":"https://openalex.org/I197681013","display_name":"Universit\u00e9 Paris-Est Cr\u00e9teil","ror":"https://ror.org/05ggc9x40","country_code":"FR","type":"education","lineage":["https://openalex.org/I197681013"]},{"id":"https://openalex.org/I2800365227","display_name":"Paris-Est Sup","ror":"https://ror.org/0268ecp52","country_code":"FR","type":"education","lineage":["https://openalex.org/I2800365227"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Mohamed Amine Alouane","raw_affiliation_strings":["Laboratory of Images, Signals and Intelligent Systems (LISSI), University of Paris-Est Cr\u00e9teil, Vitry Sur Seine, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory of Images, Signals and Intelligent Systems (LISSI), University of Paris-Est Cr\u00e9teil, Vitry Sur Seine, France","institution_ids":["https://openalex.org/I197681013","https://openalex.org/I2800365227"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043818498","display_name":"Georges Fried","orcid":null},"institutions":[{"id":"https://openalex.org/I2800365227","display_name":"Paris-Est Sup","ror":"https://ror.org/0268ecp52","country_code":"FR","type":"education","lineage":["https://openalex.org/I2800365227"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Georges Fried","raw_affiliation_strings":["LISSI/UPEC, Vitry Sur Seine, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LISSI/UPEC, Vitry Sur Seine, France","institution_ids":["https://openalex.org/I2800365227"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101450906","display_name":"Hassani Messaoud","orcid":"https://orcid.org/0000-0002-6971-2298"},"institutions":[{"id":"https://openalex.org/I166928557","display_name":"University of Monastir","ror":"https://ror.org/00nhtcg76","country_code":"TN","type":"education","lineage":["https://openalex.org/I166928557"]},{"id":"https://openalex.org/I4391012590","display_name":"Ecole Nationale d'Ing\u00e9nieurs de Monastir","ror":"https://ror.org/045yr8682","country_code":null,"type":"education","lineage":["https://openalex.org/I166928557","https://openalex.org/I4391012590"]}],"countries":["TN"],"is_corresponding":false,"raw_author_name":"Hassani Messaoud","raw_affiliation_strings":["Laboratory of Automatic Signal and Image Processing, National Engineering School of Monastir, Monastir, Tunisia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory of Automatic Signal and Image Processing, National Engineering School of Monastir, Monastir, Tunisia","institution_ids":["https://openalex.org/I166928557","https://openalex.org/I4391012590"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.136,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.75251643,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"45","issue":"3","first_page":"379","last_page":"389"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9988999962806702,"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":0.9988999962806702,"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":0.9958000183105469,"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/T10925","display_name":"Spinal Cord Injury Research","score":0.9911999702453613,"subfield":{"id":"https://openalex.org/subfields/2734","display_name":"Pathology and Forensic Medicine"},"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":0.8036884665489197},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7127758264541626},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5509216785430908},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.5455609560012817},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5441741347312927},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.5412238836288452},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4419514834880829},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.4107138216495514},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3981305956840515},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.361367404460907},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3358754515647888},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1909334361553192},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.166721910238266},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13276883959770203}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8036884665489197},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7127758264541626},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5509216785430908},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.5455609560012817},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5441741347312927},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.5412238836288452},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4419514834880829},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.4107138216495514},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3981305956840515},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.361367404460907},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3358754515647888},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1909334361553192},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.166721910238266},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13276883959770203},{"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1108/ir-11-2017-0205","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-11-2017-0205","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: An International Journal","raw_type":"journal-article"},{"id":"pmh:oai:HAL:hal-01865347v1","is_oa":false,"landing_page_url":"https://hal.science/hal-01865347","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Industrial Robot: An International Journal, 2018, 45 (3), pp.379-389","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W20345653","https://openalex.org/W1487127700","https://openalex.org/W1966344796","https://openalex.org/W1977929578","https://openalex.org/W1984322858","https://openalex.org/W1990042683","https://openalex.org/W1997861712","https://openalex.org/W2009825854","https://openalex.org/W2015273929","https://openalex.org/W2021930375","https://openalex.org/W2032198200","https://openalex.org/W2035515444","https://openalex.org/W2057168118","https://openalex.org/W2057264678","https://openalex.org/W2066453048","https://openalex.org/W2075154161","https://openalex.org/W2116547962","https://openalex.org/W2122995702","https://openalex.org/W2133287930","https://openalex.org/W2136053954","https://openalex.org/W2153463745","https://openalex.org/W2158036483","https://openalex.org/W2162438232","https://openalex.org/W2216195250","https://openalex.org/W2499360489","https://openalex.org/W4300885720"],"related_works":["https://openalex.org/W2117379282","https://openalex.org/W2210722882","https://openalex.org/W2534107666","https://openalex.org/W2123479323","https://openalex.org/W1973429430","https://openalex.org/W1989996768","https://openalex.org/W2354493725","https://openalex.org/W2117933783","https://openalex.org/W2560479139","https://openalex.org/W4282930489"],"abstract_inverted_index":{"Purpose":[0],"Assistive":[1],"technology":[2],"products":[3],"are":[4,195],"designed":[5,125],"to":[6,10,27,38,49,126,130,145,205,245,278],"provide":[7],"additional":[8],"accessibility":[9],"individuals":[11],"who":[12],"have":[13,97],"physical":[14],"or":[15],"cognitive":[16],"difficulties,":[17],"impairments":[18],"and":[19,43,56,85,94,108,115,165,174,186,199,226,235,247,251,257,265],"disabilities.":[20],"The":[21,88,122,154,176,260,267],"purpose":[22],"of":[23,32,53,76,105,134,150,156,184,191,211,269],"this":[24,46,192,203,270],"paper":[25,66],"is":[26,161,242,263],"deal":[28,206],"with":[29,68,82,207],"the":[30,51,54,58,62,69,103,112,117,128,132,135,139,147,151,157,162,167,189,196,208,212,239,254,275],"control":[31,47,101,193,271],"a":[33,280],"knee":[34,78,214],"joint":[35,79,215],"orthosis":[36,80],"intended":[37],"be":[39],"used":[40,144],"for":[41,170],"rehabilitation":[42],"assistive":[44],"purpose;":[45],"aims":[48],"reduce":[50],"influence":[52],"uncertainties":[55,84,107,210],"eliminating":[57,171],"external":[59,86,109,172,258],"disturbances":[60,110,173],"in":[61,180,182],"system.":[63],"Design/methodology/approach":[64],"This":[65,100],"deals":[67],"robust":[70,158],"adaptive":[71,240],"sliding":[72,224],"mode":[73,225],"controller":[74],"(ASMC)":[75],"human-driven":[77,213],"system":[81,90,113,118],"mismatched":[83],"disturbances.":[87,259],"shank-orthosis":[89],"has":[91,231,248],"been":[92,98],"modeled":[93],"its":[95],"parameters":[96],"identified.":[99],"reduces":[102],"effect":[104],"parameter":[106,209,255],"on":[111,223],"performance":[114],"improves":[116],"robustness":[119,252],"as":[120],"results.":[121],"ASMC":[123,159,218],"was":[124,143,219],"offer":[127],"possibility":[129],"track":[131,279],"state":[133],"reference":[136],"model.":[137],"Moreover,":[138],"Lyapunov":[140,227],"stability":[141,149,185,228],"theory":[142],"study":[146],"asymptotical":[148],"ASMC.":[152],"Findings":[153],"advantage":[155],"method":[160],"tracking":[163,198,236],"precision":[164],"reducing":[166],"required":[168],"time":[169],"uncertainties.":[175],"experimental":[177],"results":[178],"show":[179],"real-time":[181],"terms":[183],"present":[187],"that":[188],"advantages":[190],"approach":[194],"position":[197],"robustness.":[200],"Originality/value":[201],"In":[202],"paper,":[204],"orthosis,":[216],"an":[217],"successfully":[220],"applied":[221],"based":[222],"theory.":[229],"It":[230],"good":[232,249],"dynamic":[233],"response":[234],"performance.":[237],"Besides,":[238],"algorithm":[241],"simple,":[243],"easy":[244],"achieve":[246],"adaptability":[250],"against":[253],"variations":[256],"design":[261],"technique":[262],"simple":[264],"efficient.":[266],"development":[268],"takes":[272],"into":[273],"consideration":[274],"perturbation,":[276],"allowing":[277],"desired":[281],"trajectory.":[282]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":6}],"updated_date":"2026-08-26T07:47:46.906454","created_date":"2025-10-10T00:00:00"}
