{"id":"https://openalex.org/W2163052574","doi":"https://doi.org/10.1109/cdc.2004.1429662","title":"A novel passive path following controller for a rehabilitation robot","display_name":"A novel passive path following controller for a rehabilitation robot","publication_year":2004,"publication_date":"2004-01-01","ids":{"openalex":"https://openalex.org/W2163052574","doi":"https://doi.org/10.1109/cdc.2004.1429662","mag":"2163052574"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2004.1429662","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2004.1429662","pdf_url":null,"source":{"id":"https://openalex.org/S4363608267","display_name":"2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601)","raw_type":"proceedings-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/A5089779470","display_name":"X. Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I8078737","display_name":"Clemson University","ror":"https://ror.org/037s24f05","country_code":"US","type":"education","lineage":["https://openalex.org/I8078737"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"X. Zhang","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Clemson University, Clemson, SC, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Clemson University, Clemson, SC, USA","institution_ids":["https://openalex.org/I8078737"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021820083","display_name":"Aman Behal","orcid":"https://orcid.org/0000-0001-8458-1591"},"institutions":[{"id":"https://openalex.org/I16944753","display_name":"Clarkson University","ror":"https://ror.org/03rwgpn18","country_code":"US","type":"education","lineage":["https://openalex.org/I16944753"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"A. Behal","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Clarkson University, Potsdam, NY, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Clarkson University, Potsdam, NY, USA","institution_ids":["https://openalex.org/I16944753"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112213851","display_name":"D.M. Dawson","orcid":null},"institutions":[{"id":"https://openalex.org/I8078737","display_name":"Clemson University","ror":"https://ror.org/037s24f05","country_code":"US","type":"education","lineage":["https://openalex.org/I8078737"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"D.M. Dawson","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Clemson University, Clemson, SC, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Clemson University, Clemson, SC, USA","institution_ids":["https://openalex.org/I8078737"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004514759","display_name":"J. Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I8078737","display_name":"Clemson University","ror":"https://ror.org/037s24f05","country_code":"US","type":"education","lineage":["https://openalex.org/I8078737"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J. Chen","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Clemson University, Clemson, SC, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Clemson University, Clemson, SC, USA","institution_ids":["https://openalex.org/I8078737"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.956,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.72570194,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"11","issue":null,"first_page":"5374","last_page":"5379 Vol.5"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9991000294685364,"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"}},"topics":[{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9991000294685364,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9990000128746033,"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":0.9973999857902527,"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":0.7278594374656677},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.59858238697052},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.574410617351532},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.5720264911651611},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5700847506523132},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5266033411026001},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.5244258642196655},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.517189621925354},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4827660620212555},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.4620612859725952},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4510788023471832},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4185049831867218},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.35297220945358276},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2846723198890686},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16920533776283264},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16545507311820984},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07258307933807373}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7278594374656677},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.59858238697052},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.574410617351532},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.5720264911651611},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5700847506523132},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5266033411026001},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.5244258642196655},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.517189621925354},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4827660620212555},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.4620612859725952},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4510788023471832},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4185049831867218},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.35297220945358276},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2846723198890686},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16920533776283264},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16545507311820984},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07258307933807373},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/cdc.2004.1429662","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2004.1429662","pdf_url":null,"source":{"id":"https://openalex.org/S4363608267","display_name":"2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601)","raw_type":"proceedings-article"},{"id":"pmh:ADA465617","is_oa":false,"landing_page_url":"http://oai.dtic.mil/oai/oai?&verb=getRecord&metadataPrefix=html&identifier=ADA465617","pdf_url":null,"source":{"id":"https://openalex.org/S4406923043","display_name":"Defense Technical Information Center (DTIC)","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"DTIC","raw_type":"Text"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.8999999761581421}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1487127700","https://openalex.org/W1491272798","https://openalex.org/W1496777766","https://openalex.org/W1540935623","https://openalex.org/W1561421719","https://openalex.org/W1966369671","https://openalex.org/W2097467365","https://openalex.org/W2103666635","https://openalex.org/W2134927525","https://openalex.org/W2134936299","https://openalex.org/W2135464393","https://openalex.org/W2143461358","https://openalex.org/W2144535736","https://openalex.org/W2169221149","https://openalex.org/W2171649388","https://openalex.org/W2492642174","https://openalex.org/W2561111412","https://openalex.org/W2730048060","https://openalex.org/W2936331054","https://openalex.org/W4230979734","https://openalex.org/W6761675563"],"related_works":["https://openalex.org/W1964490400","https://openalex.org/W1968518598","https://openalex.org/W229301543","https://openalex.org/W3117511302","https://openalex.org/W2914399220","https://openalex.org/W3191493856","https://openalex.org/W2048576502","https://openalex.org/W2059740384","https://openalex.org/W1984186897","https://openalex.org/W2229463931"],"abstract_inverted_index":{"In":[0,106],"this":[1],"paper,":[2],"we":[3],"present":[4],"a":[5,12,20,27,31,39],"path":[6,33,65,82,111],"generation":[7],"and":[8],"control":[9,59,114],"strategy":[10,60],"for":[11,67],"robotic":[13],"manipulator":[14,70],"to":[15,37,108],"mimic":[16],"the":[17,43,53,68,72,77,81,89,96,101,104,113,123,127,133],"dynamics":[18],"of":[19,74,93],"continuously":[21],"reconfigurable":[22],"anisotropic":[23],"impedance.":[24],"Motivated":[25],"by":[26,87],"nonholonomic":[28],"kinematic":[29],"constraint,":[30],"dynamic":[32],"generator":[34,83],"is":[35,50],"designed":[36],"trace":[38],"desired":[40,90,134],"contour":[41],"in":[42,71,76],"robot's":[44,54],"workspace":[45],"when":[46],"an":[47],"interaction":[48,99],"force":[49],"applied":[51],"at":[52,122],"end-effector.":[55],"The":[56],"proposed":[57],"continuous":[58],"achieves":[61],"semi-global":[62],"asymptotically":[63],"stable":[64],"following":[66],"robot":[69,78,98],"presence":[73],"uncertainty":[75],"dynamics.":[79],"Additionally,":[80],"also":[84,116],"ensures":[85,117],"safety":[86],"maintaining":[88],"net":[91],"flow":[92],"energy":[94,129,135],"during":[95],"human":[97],"from":[100],"user":[102,142],"toward":[103],"manipulator.":[105],"addition":[107],"providing":[109],"asymptotic":[110],"following,":[112],"algorithm":[115],"sufficiently":[118],"rapid":[119],"error":[120],"convergence":[121],"end-effector":[124],"such":[125],"that":[126],"actual":[128],"transfer":[130,136],"profile":[131,137],"follows":[132],"-":[138],"thus":[139],"rigorously":[140],"ensuring":[141],"safety.":[143]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}