{"id":"https://openalex.org/W2971013867","doi":"https://doi.org/10.1109/access.2019.2938566","title":"Adaptive Admittance Control of an Upper Extremity Rehabilitation Robot With Neural-Network-Based Disturbance Observer","display_name":"Adaptive Admittance Control of an Upper Extremity Rehabilitation Robot With Neural-Network-Based Disturbance Observer","publication_year":2019,"publication_date":"2019-01-01","ids":{"openalex":"https://openalex.org/W2971013867","doi":"https://doi.org/10.1109/access.2019.2938566","mag":"2971013867"},"language":"en","primary_location":{"id":"doi:10.1109/access.2019.2938566","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2938566","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08821347.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08821347.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5049492957","display_name":"Qingcong Wu","orcid":"https://orcid.org/0000-0002-7774-6092"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Qingcong Wu","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100662674","display_name":"Bai Chen","orcid":"https://orcid.org/0000-0001-8290-8626"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bai Chen","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102983071","display_name":"Hongtao Wu","orcid":"https://orcid.org/0000-0002-3885-930X"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongtao Wu","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5049492957"],"corresponding_institution_ids":["https://openalex.org/I9842412"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":2.3253,"has_fulltext":true,"cited_by_count":37,"citation_normalized_percentile":{"value":0.88059246,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"7","issue":null,"first_page":"123807","last_page":"123819"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9994999766349792,"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":0.9994999766349792,"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":0.9983999729156494,"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":0.9951000213623047,"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/trajectory","display_name":"Trajectory","score":0.6902101039886475},{"id":"https://openalex.org/keywords/admittance","display_name":"Admittance","score":0.6717365980148315},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6352443099021912},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5839104652404785},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5666176676750183},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4987945556640625},{"id":"https://openalex.org/keywords/rehabilitation","display_name":"Rehabilitation","score":0.4760417938232422},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.4559394419193268},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.43452924489974976},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.41569942235946655},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3649851083755493},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.35629987716674805},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.3358403444290161},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2725493013858795},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.24391406774520874},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.09554779529571533},{"id":"https://openalex.org/keywords/physical-therapy","display_name":"Physical therapy","score":0.09452936053276062}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6902101039886475},{"id":"https://openalex.org/C108811297","wikidata":"https://www.wikidata.org/wiki/Q214518","display_name":"Admittance","level":3,"score":0.6717365980148315},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6352443099021912},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5839104652404785},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5666176676750183},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4987945556640625},{"id":"https://openalex.org/C2778818304","wikidata":"https://www.wikidata.org/wiki/Q1819478","display_name":"Rehabilitation","level":2,"score":0.4760417938232422},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.4559394419193268},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.43452924489974976},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.41569942235946655},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3649851083755493},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.35629987716674805},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.3358403444290161},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2725493013858795},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.24391406774520874},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.09554779529571533},{"id":"https://openalex.org/C1862650","wikidata":"https://www.wikidata.org/wiki/Q186005","display_name":"Physical therapy","level":1,"score":0.09452936053276062},{"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/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","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},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2019.2938566","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2938566","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08821347.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:4af5dba86fb14f2cb327456c3bbdfc01","is_oa":true,"landing_page_url":"https://doaj.org/article/4af5dba86fb14f2cb327456c3bbdfc01","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 7, Pp 123807-123819 (2019)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2019.2938566","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2938566","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08821347.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1231421488","display_name":null,"funder_award_id":"under","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2030376154","display_name":null,"funder_award_id":"Grant","funder_id":"https://openalex.org/F4320322769","funder_display_name":"Natural Science Foundation of Jiangsu Province"},{"id":"https://openalex.org/G2082826544","display_name":null,"funder_award_id":"Postdoctoral","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2087396116","display_name":null,"funder_award_id":"China","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2695059274","display_name":null,"funder_award_id":"201707","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"},{"id":"https://openalex.org/G3317480652","display_name":null,"funder_award_id":"Science","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G37568934","display_name":null,"funder_award_id":"Grant","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3910829908","display_name":null,"funder_award_id":"China","funder_id":"https://openalex.org/F4320322769","funder_display_name":"Natural Science Foundation of Jiangsu Province"},{"id":"https://openalex.org/G391238517","display_name":null,"funder_award_id":", and","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G434869240","display_name":null,"funder_award_id":"201707","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4787898886","display_name":null,"funder_award_id":"51705240","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4796043089","display_name":null,"funder_award_id":"SKLRS-2018-KF-10","funder_id":"https://openalex.org/F4320327001","funder_display_name":"State Key Laboratory of Robotics and System"},{"id":"https://openalex.org/G5994120800","display_name":null,"funder_award_id":"Natural","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6584340026","display_name":null,"funder_award_id":"BK20170783","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G727698628","display_name":null,"funder_award_id":"2018M640480","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"},{"id":"https://openalex.org/G8712471183","display_name":null,"funder_award_id":"BK20170783","funder_id":"https://openalex.org/F4320322769","funder_display_name":"Natural Science Foundation of Jiangsu Province"},{"id":"https://openalex.org/G8983592378","display_name":null,"funder_award_id":"201707","funder_id":"https://openalex.org/F4320322769","funder_display_name":"Natural Science Foundation of Jiangsu Province"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"},{"id":"https://openalex.org/F4320321605","display_name":"Government of Jiangsu Province","ror":"https://ror.org/004svx814"},{"id":"https://openalex.org/F4320322769","display_name":"Natural Science Foundation of Jiangsu Province","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320326907","display_name":"State Key Laboratory of Robotics","ror":null},{"id":"https://openalex.org/F4320327001","display_name":"State Key Laboratory of Robotics and System","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2971013867.pdf","grobid_xml":"https://content.openalex.org/works/W2971013867.grobid-xml"},"referenced_works_count":48,"referenced_works":["https://openalex.org/W1976199972","https://openalex.org/W1997813158","https://openalex.org/W2001537057","https://openalex.org/W2039660376","https://openalex.org/W2044612089","https://openalex.org/W2054326469","https://openalex.org/W2062763880","https://openalex.org/W2062939404","https://openalex.org/W2066260126","https://openalex.org/W2090854043","https://openalex.org/W2115050146","https://openalex.org/W2120154518","https://openalex.org/W2125213782","https://openalex.org/W2135556347","https://openalex.org/W2141943257","https://openalex.org/W2150335084","https://openalex.org/W2159397948","https://openalex.org/W2160309625","https://openalex.org/W2163208146","https://openalex.org/W2164553222","https://openalex.org/W2166271005","https://openalex.org/W2248254770","https://openalex.org/W2343472016","https://openalex.org/W2533599559","https://openalex.org/W2624380632","https://openalex.org/W2743463877","https://openalex.org/W2769294089","https://openalex.org/W2771032582","https://openalex.org/W2774706289","https://openalex.org/W2786888382","https://openalex.org/W2791063016","https://openalex.org/W2791322800","https://openalex.org/W2795727968","https://openalex.org/W2796298586","https://openalex.org/W2800663337","https://openalex.org/W2808934964","https://openalex.org/W2809563891","https://openalex.org/W2897095001","https://openalex.org/W2897952680","https://openalex.org/W2902305169","https://openalex.org/W2911937570","https://openalex.org/W2922145139","https://openalex.org/W2942889659","https://openalex.org/W2944954869","https://openalex.org/W2946154472","https://openalex.org/W2946956215","https://openalex.org/W2947348882","https://openalex.org/W2976436761"],"related_works":["https://openalex.org/W2200472972","https://openalex.org/W2031643172","https://openalex.org/W2047335472","https://openalex.org/W2018658498","https://openalex.org/W3205034227","https://openalex.org/W1594265855","https://openalex.org/W2740013582","https://openalex.org/W1991810297","https://openalex.org/W2032253950","https://openalex.org/W1819950161"],"abstract_inverted_index":{"Robot-assisted":[0],"rehabilitation":[1,81,171,181],"therapy":[2],"has":[3],"become":[4],"an":[5,21,106],"important":[6],"technology":[7],"applied":[8],"to":[9,39,67,94,115],"recover":[10],"the":[11,18,50,60,74,78,96,112,117,126,133,161,165,170],"motor":[12],"functions":[13],"of":[14,49,77,132,169],"disabled":[15],"individuals.":[16],"In":[17],"present":[19],"paper,":[20],"adaptive":[22,62],"admittance":[23,63,113,148],"control":[24,55,97],"strategy":[25],"combined":[26],"with":[27,86,99,147],"a":[28,36,46,87],"neural-network-based":[29],"disturbance":[30,84],"observer":[31,85],"(AACNDO)":[32],"is":[33,57,65,92,109],"developed":[34],"for":[35],"therapeutic":[37],"robot":[38,51,172],"provide":[40],"upper":[41],"extremity":[42],"movement":[43],"assistance.":[44],"Firstly,":[45],"comprehensive":[47],"overview":[48],"hardware":[52],"and":[53,72,102,129,150,167,173,179],"real-time":[54],"system":[56],"introduced.":[58],"Then,":[59],"dynamics-based":[61],"controller":[64],"designed":[66,93],"improve":[68],"human-robot":[69],"interaction":[70,118],"compliance":[71,119],"induce":[73],"active":[75],"participation":[76],"patients":[79],"during":[80],"training.":[82,182],"A":[83],"radial":[88],"basis":[89],"function":[90],"network":[91],"guarantee":[95],"performance":[98],"external":[100],"uncertainties":[101],"dynamics":[103],"error.":[104],"Besides,":[105],"adaption":[107],"law":[108],"integrated":[110],"into":[111],"model":[114],"adjust":[116],"in":[120,176],"different":[121],"working":[122],"areas":[123],"based":[124],"on":[125],"motion":[127],"intention":[128],"recovery":[130],"phase":[131],"patient.":[134],"Further":[135],"experimental":[136,162],"investigations,":[137],"including":[138],"sinusoidal":[139],"trajectory":[140,144],"tracking":[141,145],"experiments,":[142,154],"circular":[143],"experiments":[146],"adjustment,":[149],"intention-based":[151],"resistive":[152],"training":[153],"are":[155],"conducted":[156],"by":[157],"three":[158],"volunteers.":[159],"Finally,":[160],"results":[163],"validate":[164],"feasibility":[166],"effectiveness":[168],"AACNDO":[174],"scheme":[175],"providing":[177],"patient-passive":[178],"patient-cooperative":[180]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":1}],"updated_date":"2026-04-18T07:56:08.524223","created_date":"2025-10-10T00:00:00"}