{"id":"https://openalex.org/W7117542762","doi":"https://doi.org/10.1109/access.2025.3649756","title":"Practical Control of an Upper-Limb Rehabilitation Robotic Arm Using a PD Controller With Time-Delay Estimation","display_name":"Practical Control of an Upper-Limb Rehabilitation Robotic Arm Using a PD Controller With Time-Delay Estimation","publication_year":2025,"publication_date":"2025-12-30","ids":{"openalex":"https://openalex.org/W7117542762","doi":"https://doi.org/10.1109/access.2025.3649756"},"language":null,"primary_location":{"id":"doi:10.1109/access.2025.3649756","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3649756","pdf_url":null,"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://doi.org/10.1109/access.2025.3649756","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Thanh Nha Nguyen","orcid":"https://orcid.org/0009-0004-1302-5378"},"institutions":[{"id":"https://openalex.org/I4210148201","display_name":"Ho Chi Minh City University of Technology and Engineering","ror":"https://ror.org/05hzn5427","country_code":"VN","type":"education","lineage":["https://openalex.org/I4210148201"]}],"countries":["VN"],"is_corresponding":true,"raw_author_name":"Thanh Nha Nguyen","raw_affiliation_strings":["Department of Automatic Control, Ho Chi Minh City University of Technology and Education, Ho Chi Minh City, Vietnam"],"raw_orcid":"https://orcid.org/0009-0004-1302-5378","affiliations":[{"raw_affiliation_string":"Department of Automatic Control, Ho Chi Minh City University of Technology and Education, Ho Chi Minh City, Vietnam","institution_ids":["https://openalex.org/I4210148201"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024783996","display_name":"Qu\u1ed1c Thanh Tr\u01b0\u01a1ng","orcid":null},"institutions":[{"id":"https://openalex.org/I47265099","display_name":"Ho Chi Minh City University of Technology","ror":"https://ror.org/04qva2324","country_code":"VN","type":"education","lineage":["https://openalex.org/I123565023","https://openalex.org/I47265099"]}],"countries":["VN"],"is_corresponding":false,"raw_author_name":"Quoc Thanh Truong","raw_affiliation_strings":["Faculty of Mechanical Engineering, Ho Chi Minh City University of Technology, Ho Chi Minh City, Vietnam"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical Engineering, Ho Chi Minh City University of Technology, Ho Chi Minh City, Vietnam","institution_ids":["https://openalex.org/I47265099"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048210179","display_name":"N. T. Tran","orcid":null},"institutions":[{"id":"https://openalex.org/I47265099","display_name":"Ho Chi Minh City University of Technology","ror":"https://ror.org/04qva2324","country_code":"VN","type":"education","lineage":["https://openalex.org/I123565023","https://openalex.org/I47265099"]}],"countries":["VN"],"is_corresponding":false,"raw_author_name":"Nguyen Duy Phuong Tran","raw_affiliation_strings":["Faculty of Mechanical Engineering, Ho Chi Minh City University of Technology, Ho Chi Minh City, Vietnam"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical Engineering, Ho Chi Minh City University of Technology, Ho Chi Minh City, Vietnam","institution_ids":["https://openalex.org/I47265099"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5121571515","display_name":"Jongil Yoon","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jongil Yoon","raw_affiliation_strings":["Korea Construction Equipment Technology Institute, Gunsan, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Korea Construction Equipment Technology Institute, Gunsan, South Korea","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5121585573","display_name":"Duc Thien Tran","orcid":null},"institutions":[{"id":"https://openalex.org/I4210148201","display_name":"Ho Chi Minh City University of Technology and Engineering","ror":"https://ror.org/05hzn5427","country_code":"VN","type":"education","lineage":["https://openalex.org/I4210148201"]}],"countries":["VN"],"is_corresponding":false,"raw_author_name":"Duc Thien Tran","raw_affiliation_strings":["Department of Automatic Control, Ho Chi Minh City University of Technology and Education, Ho Chi Minh City, Vietnam"],"raw_orcid":"https://orcid.org/0000-0002-6684-0681","affiliations":[{"raw_affiliation_string":"Department of Automatic Control, Ho Chi Minh City University of Technology and Education, Ho Chi Minh City, Vietnam","institution_ids":["https://openalex.org/I4210148201"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4210148201"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.65156215,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"14","issue":null,"first_page":"2451","last_page":"2462"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.4239000082015991,"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":0.4239000082015991,"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":0.22849999368190765,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.0697999969124794,"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":0.7705000042915344},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7005000114440918},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6481999754905701},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.633400022983551},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5223000049591064},{"id":"https://openalex.org/keywords/matlab","display_name":"MATLAB","score":0.5090000033378601},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.49380001425743103},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4551999866962433}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7705000042915344},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7005000114440918},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.656000018119812},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6481999754905701},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.633400022983551},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5223000049591064},{"id":"https://openalex.org/C2780365114","wikidata":"https://www.wikidata.org/wiki/Q169478","display_name":"MATLAB","level":2,"score":0.5090000033378601},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.49380001425743103},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4551999866962433},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.45320001244544983},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.44929999113082886},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4429999887943268},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.39070001244544983},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3743000030517578},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.3418999910354614},{"id":"https://openalex.org/C91581856","wikidata":"https://www.wikidata.org/wiki/Q2707001","display_name":"Nonlinear control","level":3,"score":0.2930000126361847},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.2874999940395355},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2858999967575073},{"id":"https://openalex.org/C5594486","wikidata":"https://www.wikidata.org/wiki/Q161635","display_name":"Angular velocity","level":2,"score":0.2583000063896179},{"id":"https://openalex.org/C28427503","wikidata":"https://www.wikidata.org/wiki/Q13580300","display_name":"Internal model","level":3,"score":0.25699999928474426},{"id":"https://openalex.org/C190704821","wikidata":"https://www.wikidata.org/wiki/Q186300","display_name":"Angular acceleration","level":3,"score":0.2565000057220459},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.25609999895095825},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.2547000050544739}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/access.2025.3649756","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3649756","pdf_url":null,"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"}],"best_oa_location":{"id":"doi:10.1109/access.2025.3649756","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3649756","pdf_url":null,"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":[{"display_name":"Peace, Justice and strong institutions","score":0.5127400159835815,"id":"https://metadata.un.org/sdg/16"}],"awards":[{"id":"https://openalex.org/G8304231470","display_name":null,"funder_award_id":"RS-2024-00422191","funder_id":"https://openalex.org/F4320327819","funder_display_name":"Ministry of SMEs and Startups"}],"funders":[{"id":"https://openalex.org/F4320327819","display_name":"Ministry of SMEs and Startups","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1099687614","https://openalex.org/W2071850367","https://openalex.org/W2079336331","https://openalex.org/W2113068642","https://openalex.org/W2118766245","https://openalex.org/W2126663592","https://openalex.org/W2129677597","https://openalex.org/W2773227141","https://openalex.org/W2774706289","https://openalex.org/W2807832719","https://openalex.org/W2888205626","https://openalex.org/W2954530298","https://openalex.org/W3012487537","https://openalex.org/W3040169195","https://openalex.org/W3092608441","https://openalex.org/W3093984080","https://openalex.org/W3108431994","https://openalex.org/W3191783681","https://openalex.org/W4212898087","https://openalex.org/W4245930465","https://openalex.org/W4280561000","https://openalex.org/W4281645732","https://openalex.org/W4285103717","https://openalex.org/W4285794683","https://openalex.org/W4308329660","https://openalex.org/W4375956027","https://openalex.org/W4385417070","https://openalex.org/W4385739086","https://openalex.org/W4385840506","https://openalex.org/W4386223341","https://openalex.org/W4390417519","https://openalex.org/W4392507061","https://openalex.org/W4402744126","https://openalex.org/W4411143157","https://openalex.org/W4412567119"],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,46,134,148],"proportional-derivative":[4],"(PD)":[5],"control":[6,80,95,101],"strategy":[7],"based":[8],"on":[9,75,147],"time":[10],"delay":[11],"estimation":[12],"(TDE)":[13],"for":[14],"an":[15],"upper":[16,150],"limb":[17,151],"rehabilitation":[18,152],"robotic":[19,153],"arm.":[20,154],"The":[21,97,122],"proposed":[22,117],"controller":[23,48],"combines":[24],"trajectory":[25,44],"tracking":[26,105],"and":[27,41,82,107],"the":[28,53,62,66,79,94,109,113,116,125],"approximation":[29],"of":[30,78,99,115,124],"nonlinear":[31,67],"system":[32,35],"components,":[33],"including":[34],"dynamics,":[36],"lumped":[37],"uncertainties,":[38],"external":[39],"disturbances,":[40],"friction.":[42],"For":[43],"tracking,":[45],"PD":[47,100],"is":[49,119,127],"employed":[50],"to":[51],"regulate":[52],"robot":[54],"joints,":[55],"ensuring":[56],"they":[57],"follow":[58],"predefined":[59],"trajectories":[60],"in":[61],"joint":[63,83],"space.":[64],"Meanwhile,":[65],"components":[68,89],"are":[69,90],"approximated":[70],"using":[71,133],"TDE,":[72],"which":[73],"relies":[74],"past":[76],"values":[77],"torque":[81],"angular":[84],"acceleration":[85],"signals.":[86],"These":[87],"estimated":[88],"subsequently":[91],"compensated":[92],"within":[93],"law.":[96],"integration":[98],"with":[102],"TDE":[103],"enhances":[104],"accuracy":[106],"improves":[108],"system\u2019s":[110],"robustness.":[111],"Moreover,":[112],"stability":[114],"method":[118],"theoretically":[120],"proven.":[121],"effectiveness":[123],"approach":[126],"validated":[128],"through":[129,144],"MATLAB":[130],"Simulink":[131],"simulations":[132],"Simscape":[135],"3D":[136],"model":[137],"derived":[138],"from":[139],"SolidWorks,":[140],"as":[141,143],"well":[142],"experimental":[145],"results":[146],"self-developed":[149]},"counts_by_year":[],"updated_date":"2026-01-10T23:39:48.068659","created_date":"2025-12-30T00:00:00"}