{"id":"https://openalex.org/W3186221229","doi":"https://doi.org/10.1109/access.2021.3099692","title":"Fuzzy Adaptive Sliding Mode Impedance Control of Fracture Reduction Robot","display_name":"Fuzzy Adaptive Sliding Mode Impedance Control of Fracture Reduction Robot","publication_year":2021,"publication_date":"2021-01-01","ids":{"openalex":"https://openalex.org/W3186221229","doi":"https://doi.org/10.1109/access.2021.3099692","mag":"3186221229"},"language":"en","primary_location":{"id":"doi:10.1109/access.2021.3099692","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3099692","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09494355.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/ielx7/6287639/9312710/09494355.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5102833368","display_name":"Gongliang Zheng","orcid":"https://orcid.org/0000-0003-4926-2231"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Gongliang Zheng","raw_affiliation_strings":["School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0003-4926-2231","affiliations":[{"raw_affiliation_string":"School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020331027","display_name":"Jingtao Lei","orcid":"https://orcid.org/0000-0003-0575-7611"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jingtao Lei","raw_affiliation_strings":["School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0003-0575-7611","affiliations":[{"raw_affiliation_string":"School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068894575","display_name":"Lei Hu","orcid":"https://orcid.org/0000-0001-6696-4986"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lei Hu","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Beihang University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101772126","display_name":"Lihai Zhang","orcid":"https://orcid.org/0000-0003-3172-6309"},"institutions":[{"id":"https://openalex.org/I2802939634","display_name":"Chinese PLA General Hospital","ror":"https://ror.org/04gw3ra78","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I2802939634"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lihai Zhang","raw_affiliation_strings":["Department of Orthopedics, Chinese PLA General Hospital, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Orthopedics, Chinese PLA General Hospital, Beijing, China","institution_ids":["https://openalex.org/I2802939634"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.5944,"has_fulltext":true,"cited_by_count":14,"citation_normalized_percentile":{"value":0.63004833,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"9","issue":null,"first_page":"113653","last_page":"113665"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9908999800682068,"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":0.9908999800682068,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.970300018787384,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9580000042915344,"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/control-theory","display_name":"Control theory (sociology)","score":0.7812777757644653},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.6070113182067871},{"id":"https://openalex.org/keywords/reduction","display_name":"Reduction (mathematics)","score":0.5425733327865601},{"id":"https://openalex.org/keywords/fuzzy-control-system","display_name":"Fuzzy control system","score":0.5388474464416504},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5154005289077759},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.47721201181411743},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.4720260202884674},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.45342302322387695},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4433749318122864},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.4380016624927521},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.4187811613082886},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3957105278968811},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.3905459940433502},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.38561028242111206},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.34067046642303467},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2551734149456024},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15603163838386536},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08961135149002075}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7812777757644653},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.6070113182067871},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.5425733327865601},{"id":"https://openalex.org/C195975749","wikidata":"https://www.wikidata.org/wiki/Q1475705","display_name":"Fuzzy control system","level":3,"score":0.5388474464416504},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5154005289077759},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.47721201181411743},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.4720260202884674},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45342302322387695},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4433749318122864},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.4380016624927521},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.4187811613082886},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3957105278968811},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.3905459940433502},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.38561028242111206},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.34067046642303467},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2551734149456024},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15603163838386536},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08961135149002075},{"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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"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/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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2021.3099692","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3099692","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09494355.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:c507d795c55d4e70b104cf22d24f3e35","is_oa":true,"landing_page_url":"https://doaj.org/article/c507d795c55d4e70b104cf22d24f3e35","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"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 9, Pp 113653-113665 (2021)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2021.3099692","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3099692","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09494355.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/G4920775858","display_name":null,"funder_award_id":"2017YFB1304202","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"}],"funders":[{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3186221229.pdf","grobid_xml":"https://content.openalex.org/works/W3186221229.grobid-xml"},"referenced_works_count":44,"referenced_works":["https://openalex.org/W1487127700","https://openalex.org/W1683493174","https://openalex.org/W1995322222","https://openalex.org/W1999789250","https://openalex.org/W2000844520","https://openalex.org/W2010794811","https://openalex.org/W2019619077","https://openalex.org/W2125088476","https://openalex.org/W2149620520","https://openalex.org/W2206009858","https://openalex.org/W2261785419","https://openalex.org/W2305246955","https://openalex.org/W2320873298","https://openalex.org/W2470826544","https://openalex.org/W2533487671","https://openalex.org/W2557574812","https://openalex.org/W2560851484","https://openalex.org/W2647311673","https://openalex.org/W2758685501","https://openalex.org/W2760597274","https://openalex.org/W2783191395","https://openalex.org/W2790484468","https://openalex.org/W2795802646","https://openalex.org/W2802014319","https://openalex.org/W2902172955","https://openalex.org/W2913639712","https://openalex.org/W2922358507","https://openalex.org/W2939112079","https://openalex.org/W2942510244","https://openalex.org/W2943867327","https://openalex.org/W2943998888","https://openalex.org/W2945935987","https://openalex.org/W2948014490","https://openalex.org/W2967973182","https://openalex.org/W2969899644","https://openalex.org/W2981467816","https://openalex.org/W2998754552","https://openalex.org/W3000327517","https://openalex.org/W3004701989","https://openalex.org/W3042156946","https://openalex.org/W3130259156","https://openalex.org/W3198629993","https://openalex.org/W4231234912","https://openalex.org/W6801626882"],"related_works":["https://openalex.org/W2123479323","https://openalex.org/W1548742399","https://openalex.org/W2143099235","https://openalex.org/W2121172820","https://openalex.org/W2390405001","https://openalex.org/W2038357898","https://openalex.org/W2366143093","https://openalex.org/W1572304478","https://openalex.org/W2365208199","https://openalex.org/W1991899305"],"abstract_inverted_index":{"With":[0],"the":[1,26,41,58,80,84,88,100,112,121,125,138,143,146,160,166,180,188,205],"development":[2],"of":[3,57,102,142,159,204],"robotics,":[4],"it":[5],"will":[6],"be":[7],"possible":[8],"for":[9,201],"fracture":[10,161,206],"reduction":[11,27,42,59,85,103,162,207],"robots":[12],"to":[13,33,78,134,155],"replace":[14],"doctors":[15],"in":[16,40,92],"performing":[17],"surgery":[18,21],"operations.":[19],"The":[20,74,105,157],"accuracy":[22,183,191],"and":[23,37,67,87,117,129,145,176,187],"safety":[24],"by":[25,114,124],"robot":[28,43,86,163],"is":[29,76,97,153,184,192],"important.":[30],"In":[31],"order":[32],"compensate":[34],"various":[35],"uncertainties":[36],"nonlinear":[38,139],"problems":[39],"impedance":[44,55,168,202],"control":[45,56,128,169,203],"system,":[46,144],"this":[47],"paper":[48,196],"proposes":[49],"a":[50,172],"fuzzy":[51,68,130,151],"adaptive":[52,69,131],"sliding":[53,70,126],"mode":[54,71,127],"robot,":[60],"which":[61],"includes":[62,108],"force":[63,82,95,177,190],"residual":[64],"observer":[65],"(FRO)":[66],"controller":[72],"(FASMC).":[73],"FRO":[75],"used":[77,154],"estimate":[79],"external":[81],"between":[83],"fractured":[89],"musculoskeletal":[90],"tissue":[91],"real-time,":[93],"no":[94],"sensor":[96],"installed":[98],"at":[99],"end-effector":[101],"robot.":[104,208],"FASMC":[106,167],"mainly":[107],"three":[109],"parts:":[110],"linearizing":[111],"system":[113,152],"inverse":[115],"dynamics":[116],"PD":[118],"control,":[119],"improving":[120],"system's":[122],"robustness":[123],"switching":[132],"gain":[133],"reduce":[135],"chattering,":[136],"eliminating":[137],"disturbance":[140],"term":[141],"normalized":[147],"factor":[148],"linear":[149],"combination":[150],"compensate.":[156],"co-simulation":[158],"shows":[164],"that":[165],"method":[170,200],"has":[171],"better":[173],"steady-state":[174,181,189],"position":[175,182],"tracking":[178],"accuracy,":[179],"-0.733":[185],"mm,":[186],"-2.12":[193],"N.":[194],"This":[195],"provides":[197],"an":[198],"effective":[199]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}