{"id":"https://openalex.org/W4283733771","doi":"https://doi.org/10.1109/codit55151.2022.9804003","title":"Upper Limb Exoskeleton Robot Control Using Input Output Switching","display_name":"Upper Limb Exoskeleton Robot Control Using Input Output Switching","publication_year":2022,"publication_date":"2022-05-17","ids":{"openalex":"https://openalex.org/W4283733771","doi":"https://doi.org/10.1109/codit55151.2022.9804003"},"language":"en","primary_location":{"id":"doi:10.1109/codit55151.2022.9804003","is_oa":false,"landing_page_url":"https://doi.org/10.1109/codit55151.2022.9804003","pdf_url":null,"source":{"id":"https://openalex.org/S4363607900","display_name":"2022 8th International Conference on Control, Decision and Information Technologies (CoDIT)","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":"2022 8th International Conference on Control, Decision and Information Technologies (CoDIT)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-04509243","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5066453532","display_name":"Ratiba Fellag","orcid":"https://orcid.org/0000-0002-2905-3988"},"institutions":[{"id":"https://openalex.org/I4210102186","display_name":"Centre de D\u00e9veloppement des Technologies Avanc\u00e9es","ror":"https://ror.org/01ay87255","country_code":"DZ","type":"facility","lineage":["https://openalex.org/I4210102186"]}],"countries":["DZ"],"is_corresponding":true,"raw_author_name":"Ratiba Fellag","raw_affiliation_strings":["Centre de D&#x00E9;veloppement des Technologies Avanc&#x00E9;es,Alger,Alg&#x00E9;rie"],"affiliations":[{"raw_affiliation_string":"Centre de D&#x00E9;veloppement des Technologies Avanc&#x00E9;es,Alger,Alg&#x00E9;rie","institution_ids":["https://openalex.org/I4210102186"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005175751","display_name":"Fouad Yacef","orcid":"https://orcid.org/0000-0001-5707-3997"},"institutions":[{"id":"https://openalex.org/I4210102186","display_name":"Centre de D\u00e9veloppement des Technologies Avanc\u00e9es","ror":"https://ror.org/01ay87255","country_code":"DZ","type":"facility","lineage":["https://openalex.org/I4210102186"]}],"countries":["DZ"],"is_corresponding":false,"raw_author_name":"Fouad Yacef","raw_affiliation_strings":["Centre de D&#x00E9;veloppement des Technologies Avanc&#x00E9;es,Alger,Alg&#x00E9;rie"],"affiliations":[{"raw_affiliation_string":"Centre de D&#x00E9;veloppement des Technologies Avanc&#x00E9;es,Alger,Alg&#x00E9;rie","institution_ids":["https://openalex.org/I4210102186"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063382544","display_name":"Mohamed Guiatni","orcid":"https://orcid.org/0000-0002-5899-6862"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mohamed Guiatni","raw_affiliation_strings":["Laboratoire LCS&#x00C9;, Ecole Militaire Polytechnique,Alger,Alg&#x00E9;rie"],"affiliations":[{"raw_affiliation_string":"Laboratoire LCS&#x00C9;, Ecole Militaire Polytechnique,Alger,Alg&#x00E9;rie","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029907688","display_name":"Mustapha Hamerlain","orcid":"https://orcid.org/0009-0006-2390-9382"},"institutions":[{"id":"https://openalex.org/I4210102186","display_name":"Centre de D\u00e9veloppement des Technologies Avanc\u00e9es","ror":"https://ror.org/01ay87255","country_code":"DZ","type":"facility","lineage":["https://openalex.org/I4210102186"]}],"countries":["DZ"],"is_corresponding":false,"raw_author_name":"Mustapha Hamerlain","raw_affiliation_strings":["Centre de D&#x00E9;veloppement des Technologies Avanc&#x00E9;es,Alger,Alg&#x00E9;rie"],"affiliations":[{"raw_affiliation_string":"Centre de D&#x00E9;veloppement des Technologies Avanc&#x00E9;es,Alger,Alg&#x00E9;rie","institution_ids":["https://openalex.org/I4210102186"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016551928","display_name":"Laid Degaa","orcid":"https://orcid.org/0000-0003-0020-6730"},"institutions":[{"id":"https://openalex.org/I4210118719","display_name":"\u00c9cole Sup\u00e9rieure des Techniques A\u00e9ronautiques et de Construction Automobile","ror":"https://ror.org/02az5b805","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210118719"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Laid Degaa","raw_affiliation_strings":["Ecole Sup&#x00E9;rieure des Techniques A&#x00E9;ronautiques et de Construction Automobile ESTACA,France"],"affiliations":[{"raw_affiliation_string":"Ecole Sup&#x00E9;rieure des Techniques A&#x00E9;ronautiques et de Construction Automobile ESTACA,France","institution_ids":["https://openalex.org/I4210118719"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054980541","display_name":"Nassim Rizoug","orcid":"https://orcid.org/0000-0002-2151-185X"},"institutions":[{"id":"https://openalex.org/I4210118719","display_name":"\u00c9cole Sup\u00e9rieure des Techniques A\u00e9ronautiques et de Construction Automobile","ror":"https://ror.org/02az5b805","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210118719"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Nassim Rizoug","raw_affiliation_strings":["Ecole Sup&#x00E9;rieure des Techniques A&#x00E9;ronautiques et de Construction Automobile ESTACA,France"],"affiliations":[{"raw_affiliation_string":"Ecole Sup&#x00E9;rieure des Techniques A&#x00E9;ronautiques et de Construction Automobile ESTACA,France","institution_ids":["https://openalex.org/I4210118719"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5066453532"],"corresponding_institution_ids":["https://openalex.org/I4210102186"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.07423054,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"68","issue":null,"first_page":"1658","last_page":"1663"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9937000274658203,"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":0.9937000274658203,"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":0.9904000163078308,"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"}},{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.989799976348877,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.8955008387565613},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8007607460021973},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7026249170303345},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.6604395508766174},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6126767992973328},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5487185716629028},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5382611155509949},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.5310243368148804},{"id":"https://openalex.org/keywords/variable-structure-control","display_name":"Variable structure control","score":0.5141716003417969},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.37023496627807617},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.36788082122802734},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.35739362239837646},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.2504069209098816},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.20872777700424194},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1537489891052246},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.08967956900596619}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.8955008387565613},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8007607460021973},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7026249170303345},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.6604395508766174},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6126767992973328},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5487185716629028},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5382611155509949},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.5310243368148804},{"id":"https://openalex.org/C185109637","wikidata":"https://www.wikidata.org/wiki/Q7915740","display_name":"Variable structure control","level":4,"score":0.5141716003417969},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.37023496627807617},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.36788082122802734},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.35739362239837646},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2504069209098816},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.20872777700424194},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1537489891052246},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.08967956900596619},{"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/codit55151.2022.9804003","is_oa":false,"landing_page_url":"https://doi.org/10.1109/codit55151.2022.9804003","pdf_url":null,"source":{"id":"https://openalex.org/S4363607900","display_name":"2022 8th International Conference on Control, Decision and Information Technologies (CoDIT)","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":"2022 8th International Conference on Control, Decision and Information Technologies (CoDIT)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-04509243v1","is_oa":true,"landing_page_url":"https://hal.science/hal-04509243","pdf_url":null,"source":{"id":"https://openalex.org/S4406922461","display_name":"SPIRE - Sciences Po Institutional REpository","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","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2022 8th International Conference on Control, Decision and Information Technologies (CoDIT), May 2022, Istanbul, Turkey. pp.1658-1663, &#x27E8;10.1109/codit55151.2022.9804003&#x27E9;","raw_type":"Conference papers"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-04509243v1","is_oa":true,"landing_page_url":"https://hal.science/hal-04509243","pdf_url":null,"source":{"id":"https://openalex.org/S4406922461","display_name":"SPIRE - Sciences Po Institutional REpository","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","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2022 8th International Conference on Control, Decision and Information Technologies (CoDIT), May 2022, Istanbul, Turkey. pp.1658-1663, &#x27E8;10.1109/codit55151.2022.9804003&#x27E9;","raw_type":"Conference papers"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1500488160","https://openalex.org/W1952344491","https://openalex.org/W1969140852","https://openalex.org/W2018179516","https://openalex.org/W2018851823","https://openalex.org/W2030959268","https://openalex.org/W2131801201","https://openalex.org/W2158503284","https://openalex.org/W2285157447","https://openalex.org/W2306460632","https://openalex.org/W2508909993","https://openalex.org/W2546866205","https://openalex.org/W2611766223","https://openalex.org/W2774166623","https://openalex.org/W2810164930","https://openalex.org/W2924021897","https://openalex.org/W2971528270","https://openalex.org/W2990827642","https://openalex.org/W3029742379","https://openalex.org/W4205362845","https://openalex.org/W4307061732","https://openalex.org/W4366002525","https://openalex.org/W6850927558"],"related_works":["https://openalex.org/W3205655234","https://openalex.org/W2909939948","https://openalex.org/W2906683640","https://openalex.org/W2352173564","https://openalex.org/W1845306153","https://openalex.org/W2166459078","https://openalex.org/W3008046258","https://openalex.org/W2391441277","https://openalex.org/W2306349892","https://openalex.org/W2274682661"],"abstract_inverted_index":{"The":[0,95],"study":[1],"of":[2,100],"control":[3,41,87],"techniques":[4],"for":[5,28,51],"exoskeleton":[6],"robots":[7,16],"used":[8],"in":[9,104],"upper-extremity":[10],"rehabilitation":[11,132],"is":[12,43,66,110,127],"gaining":[13],"popularity.":[14],"These":[15],"are":[17,48],"connected":[18],"to":[19,54,78,118],"the":[20,83,89,98,101,105,108,124],"human":[21],"upper":[22],"limb":[23],"at":[24],"multiple":[25],"points,":[26],"allowing":[27],"smooth":[29],"and":[30,39,59,88,114],"independent":[31],"joint":[32],"movements.":[33],"Therefore,":[34],"providing":[35],"a":[36],"robust,":[37],"precise,":[38],"safe":[40],"system":[42],"necessary.":[44],"Sliding":[45],"control-based":[46],"approaches":[47],"well":[49],"reputed":[50],"their":[52,63],"robustness":[53],"parameter":[55],"uncertainties,":[56],"modeling":[57],"errors,":[58],"external":[60],"disturbances.":[61],"Nevertheless,":[62],"major":[64],"disadvantage":[65],"chattering.":[67,120],"This":[68],"paper":[69],"describes":[70],"two":[71,125],"controllers":[72,126],"based":[73,111],"on":[74,112],"sliding":[75,92,116],"mode":[76,93],"theory":[77],"reduce":[79],"this":[80],"undesirable":[81],"effect:":[82],"generalized":[84],"variable":[85],"structure":[86],"higher-order":[90,115],"finite-time":[91],"control.":[94],"former":[96],"incorporates":[97],"derivative":[99],"torque":[102],"input":[103],"model,":[106],"while":[107],"latter":[109],"homogeneity":[113],"modes":[117],"diminish":[119],"A":[121],"comparison":[122],"between":[123],"achieved":[128],"by":[129],"simulating":[130],"passive":[131],"mode.":[133]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
