{"id":"https://openalex.org/W3027218446","doi":"https://doi.org/10.1109/cis-ram47153.2019.9095811","title":"Fuzzy Sliding Mode Control of An Upper-Limb Exoskeleton Robot","display_name":"Fuzzy Sliding Mode Control of An Upper-Limb Exoskeleton Robot","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W3027218446","doi":"https://doi.org/10.1109/cis-ram47153.2019.9095811","mag":"3027218446"},"language":"en","primary_location":{"id":"doi:10.1109/cis-ram47153.2019.9095811","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cis-ram47153.2019.9095811","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM)","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/A5034461873","display_name":"Long Teng","orcid":"https://orcid.org/0000-0003-4853-3255"},"institutions":[{"id":"https://openalex.org/I891191580","display_name":"Aalborg University","ror":"https://ror.org/04m5j1k67","country_code":"DK","type":"education","lineage":["https://openalex.org/I891191580"]}],"countries":["DK"],"is_corresponding":true,"raw_author_name":"Long Teng","raw_affiliation_strings":["Department of Materials and Production, Aalborg University, Denmark"],"affiliations":[{"raw_affiliation_string":"Department of Materials and Production, Aalborg University, Denmark","institution_ids":["https://openalex.org/I891191580"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033529424","display_name":"Shaoping Bai","orcid":"https://orcid.org/0000-0001-5882-9768"},"institutions":[{"id":"https://openalex.org/I891191580","display_name":"Aalborg University","ror":"https://ror.org/04m5j1k67","country_code":"DK","type":"education","lineage":["https://openalex.org/I891191580"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Shaoping Bai","raw_affiliation_strings":["Department of Materials and Production, Aalborg University, Denmark"],"affiliations":[{"raw_affiliation_string":"Department of Materials and Production, Aalborg University, Denmark","institution_ids":["https://openalex.org/I891191580"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5034461873"],"corresponding_institution_ids":["https://openalex.org/I891191580"],"apc_list":null,"apc_paid":null,"fwci":1.1621,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.80465827,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"12","last_page":"17"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9973999857902527,"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":0.9973999857902527,"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":0.9973000288009644,"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":0.9970999956130981,"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/exoskeleton","display_name":"Exoskeleton","score":0.9281749725341797},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8045864105224609},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.6847299337387085},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.5792697668075562},{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.5605385899543762},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5391054749488831},{"id":"https://openalex.org/keywords/fuzzy-control-system","display_name":"Fuzzy control system","score":0.49014338850975037},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4537319540977478},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.44803473353385925},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.42621710896492004},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4235784113407135},{"id":"https://openalex.org/keywords/wheelchair","display_name":"Wheelchair","score":0.4221356511116028},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.4122840166091919},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.39278143644332886},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.23589977622032166},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1834513247013092},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15810462832450867}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.9281749725341797},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8045864105224609},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.6847299337387085},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.5792697668075562},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.5605385899543762},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5391054749488831},{"id":"https://openalex.org/C195975749","wikidata":"https://www.wikidata.org/wiki/Q1475705","display_name":"Fuzzy control system","level":3,"score":0.49014338850975037},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4537319540977478},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.44803473353385925},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.42621710896492004},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4235784113407135},{"id":"https://openalex.org/C2781042323","wikidata":"https://www.wikidata.org/wiki/Q191931","display_name":"Wheelchair","level":2,"score":0.4221356511116028},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.4122840166091919},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.39278143644332886},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.23589977622032166},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1834513247013092},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15810462832450867},{"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C136764020","wikidata":"https://www.wikidata.org/wiki/Q466","display_name":"World Wide Web","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"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/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/cis-ram47153.2019.9095811","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cis-ram47153.2019.9095811","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM)","raw_type":"proceedings-article"},{"id":"pmh:oai:pure.atira.dk:publications/6806dd5f-9e0f-4bf4-a086-53c23dd1f936","is_oa":false,"landing_page_url":"https://ieeexplore.ieee.org/document/9095811/","pdf_url":null,"source":{"id":"https://openalex.org/S4306401731","display_name":"VBN Forskningsportal (Aalborg Universitet)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I891191580","host_organization_name":"Aalborg University","host_organization_lineage":["https://openalex.org/I891191580"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Teng, L & Bai, S 2019, Fuzzy Sliding Mode Control of An Upper-Limb Exoskeleton Robot. in 2019 IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM)., 9095811, IEEE (Institute of Electrical and Electronics Engineers), IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM), pp. 12-17, 2019 IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM), 18/11/2019. https://doi.org/10.1109/CIS-RAM47153.2019.9095811","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:pure.atira.dk:publications/6806dd5f-9e0f-4bf4-a086-53c23dd1f936","is_oa":false,"landing_page_url":"https://vbn.aau.dk/da/publications/6806dd5f-9e0f-4bf4-a086-53c23dd1f936","pdf_url":null,"source":{"id":"https://openalex.org/S4306401731","display_name":"VBN Forskningsportal (Aalborg Universitet)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I891191580","host_organization_name":"Aalborg University","host_organization_lineage":["https://openalex.org/I891191580"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Teng , L &amp; Bai , S 2019 , Fuzzy Sliding Mode Control of An Upper-Limb Exoskeleton Robot . in 2019 IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM) . , 9095811 , IEEE , IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM) , pp. 12-17 , 2019 IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM) , 18/11/2019 . https://doi.org/10.1109/CIS-RAM47153.2019.9095811","raw_type":"contributionToPeriodical"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1487127700","https://openalex.org/W2042575482","https://openalex.org/W2074246426","https://openalex.org/W2086604372","https://openalex.org/W2104003373","https://openalex.org/W2113341352","https://openalex.org/W2132660967","https://openalex.org/W2141943257","https://openalex.org/W2143016781","https://openalex.org/W2169723076","https://openalex.org/W2191637160","https://openalex.org/W2312703239","https://openalex.org/W2343693428","https://openalex.org/W2484046797","https://openalex.org/W2693843897","https://openalex.org/W2792866162","https://openalex.org/W2795727968","https://openalex.org/W2802587944","https://openalex.org/W2810920516","https://openalex.org/W2897952680","https://openalex.org/W2924021897","https://openalex.org/W3181736249"],"related_works":["https://openalex.org/W4378364071","https://openalex.org/W2399287283","https://openalex.org/W1998563140","https://openalex.org/W2887985348","https://openalex.org/W2401700601","https://openalex.org/W2570835373","https://openalex.org/W3198063775","https://openalex.org/W2901258812","https://openalex.org/W3017269254","https://openalex.org/W2123479323"],"abstract_inverted_index":{"In":[0],"this":[1,75],"paper,":[2],"the":[3,47,67,98,123,130,133],"position":[4],"tracking":[5],"control":[6,55,62,81,108,137],"problem":[7],"of":[8,19,52,59,84,86,132],"a":[9,24,57],"wheelchair":[10,124],"upper-limb":[11,21],"exoskeleton":[12,22,99,125],"robot":[13],"is":[14,23,72,82,91],"investigated.":[15],"The":[16,77],"dynamic":[17],"model":[18],"an":[20],"multi-input":[25],"multi-output":[26],"nonlinear":[27],"system":[28,87],"that":[29,44],"usually":[30],"suffers":[31],"complex":[32],"couplings":[33,94],"among":[34],"joints,":[35],"modeling":[36,85],"errors":[37],"and":[38,40,63,95,117],"uncertainties,":[39],"variance":[41],"in":[42,74,107],"payload":[43],"caused":[45],"by":[46],"human":[48],"upper":[49],"limb.":[50],"Instead":[51],"traditional":[53],"proportional-derivative":[54],"method,":[56],"combination":[58],"sliding":[60,69,79,135],"mode":[61,70,80,136],"fuzzy":[64,68,78,134],"logic,":[65],"i.e.,":[66],"control,":[71],"developed":[73],"work.":[76],"free":[83],"dynamics,":[88],"thus":[89],"it":[90,111],"robust":[92],"to":[93,104,128],"uncertainties":[96],"within":[97],"dynamical":[100],"model.":[101],"Moreover,":[102],"due":[103],"its":[105],"simplicity":[106],"algorithm":[109],"design,":[110],"can":[112],"be":[113],"implemented":[114],"for":[115],"real-time":[116],"embedded":[118],"control.":[119],"Experiment":[120],"results":[121],"on":[122],"are":[126],"provided":[127],"show":[129],"effectiveness":[131],"approach.":[138]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":5}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
