{"id":"https://openalex.org/W4403535421","doi":"https://doi.org/10.1109/codit62066.2024.10708630","title":"Adaptive Control of a Pediatric Gait Exoskeleton: Integrating RBF Neural Network with Non-Singular Fast Terminal Sliding Mode Scheme","display_name":"Adaptive Control of a Pediatric Gait Exoskeleton: Integrating RBF Neural Network with Non-Singular Fast Terminal Sliding Mode Scheme","publication_year":2024,"publication_date":"2024-07-01","ids":{"openalex":"https://openalex.org/W4403535421","doi":"https://doi.org/10.1109/codit62066.2024.10708630"},"language":"en","primary_location":{"id":"doi:10.1109/codit62066.2024.10708630","is_oa":false,"landing_page_url":"https://doi.org/10.1109/codit62066.2024.10708630","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 10th International Conference on Control, Decision and Information Technologies (CoDIT)","raw_type":"proceedings-article"},"type":"conference-paper","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":null,"display_name":"Jyotindra Narayan","orcid":null},"institutions":[{"id":"https://openalex.org/I1317621060","display_name":"Indian Institute of Technology Guwahati","ror":"https://ror.org/0022nd079","country_code":"IN","type":"education","lineage":["https://openalex.org/I1317621060"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Jyotindra Narayan","raw_affiliation_strings":["Indian Institute of Technology Guwahati,Department of Mechanical Engineering,Assam,India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Indian Institute of Technology Guwahati,Department of Mechanical Engineering,Assam,India","institution_ids":["https://openalex.org/I1317621060"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063410145","display_name":"Santosha K. Dwivedy","orcid":"https://orcid.org/0000-0001-6534-8989"},"institutions":[{"id":"https://openalex.org/I1317621060","display_name":"Indian Institute of Technology Guwahati","ror":"https://ror.org/0022nd079","country_code":"IN","type":"education","lineage":["https://openalex.org/I1317621060"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Santosha K. Dwivedy","raw_affiliation_strings":["Indian Institute of Technology Guwahati,Department of Mechanical Engineering,Assam,India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Indian Institute of Technology Guwahati,Department of Mechanical Engineering,Assam,India","institution_ids":["https://openalex.org/I1317621060"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I1317621060"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"922","last_page":"927"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.982699990272522,"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":0.982699990272522,"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":0.8108794689178467},{"id":"https://openalex.org/keywords/terminal","display_name":"Terminal (telecommunication)","score":0.6821251511573792},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.6518616676330566},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.609893798828125},{"id":"https://openalex.org/keywords/terminal-sliding-mode","display_name":"Terminal sliding mode","score":0.5738957524299622},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.504430890083313},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.4935659170150757},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.448022723197937},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.4269561469554901},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.4259566068649292},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.422067254781723},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.37039506435394287},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3691505193710327},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3068746328353882},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.19373300671577454},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.12718147039413452},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11775743961334229},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.06680729985237122},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.06621259450912476}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.8108794689178467},{"id":"https://openalex.org/C2779664074","wikidata":"https://www.wikidata.org/wiki/Q3518405","display_name":"Terminal (telecommunication)","level":2,"score":0.6821251511573792},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.6518616676330566},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.609893798828125},{"id":"https://openalex.org/C2777539142","wikidata":"https://www.wikidata.org/wiki/Q7702746","display_name":"Terminal sliding mode","level":4,"score":0.5738957524299622},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.504430890083313},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.4935659170150757},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.448022723197937},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.4269561469554901},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.4259566068649292},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.422067254781723},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.37039506435394287},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3691505193710327},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3068746328353882},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.19373300671577454},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.12718147039413452},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11775743961334229},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.06680729985237122},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.06621259450912476},{"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/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/codit62066.2024.10708630","is_oa":false,"landing_page_url":"https://doi.org/10.1109/codit62066.2024.10708630","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 10th International Conference on Control, Decision and Information Technologies (CoDIT)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1995110138","https://openalex.org/W2564778512","https://openalex.org/W2574992670","https://openalex.org/W2991330147","https://openalex.org/W3011624420","https://openalex.org/W3109042424","https://openalex.org/W3184564316","https://openalex.org/W3216438382","https://openalex.org/W4200038771","https://openalex.org/W4292714988","https://openalex.org/W4296113126","https://openalex.org/W4309008714","https://openalex.org/W4316037161","https://openalex.org/W4381332010","https://openalex.org/W4386113048","https://openalex.org/W4386119754","https://openalex.org/W4387914420","https://openalex.org/W4389430877","https://openalex.org/W4390757324","https://openalex.org/W4392144155"],"related_works":["https://openalex.org/W2356356101","https://openalex.org/W2109651492","https://openalex.org/W2380965978","https://openalex.org/W2131481667","https://openalex.org/W2016095328","https://openalex.org/W4214925198","https://openalex.org/W1995636945","https://openalex.org/W2404840993","https://openalex.org/W2088371781","https://openalex.org/W1788310316"],"abstract_inverted_index":{"This":[0],"study":[1],"introduces":[2],"adaptive":[3,40,82,108,179],"control":[4,47,54,70,109,113,117,134],"for":[5,28,48],"training":[6],"pediatric":[7],"cerebral":[8],"palsy":[9],"(CP)":[10],"patients":[11],"with":[12,81,93,99,139],"an":[13],"exoskeleton":[14,50],"to":[15,24,171],"improve":[16],"gait.":[17],"The":[18,52,78],"patient-exoskeleton":[19],"dynamic":[20],"model,":[21],"complex":[22],"due":[23,170],"uncertainties,":[25],"poses":[26],"challenges":[27],"effective":[29],"gait-tracking":[30],"control.":[31],"To":[32],"address":[33],"this,":[34],"we":[35],"propose":[36],"radial":[37,59],"basis":[38,60],"function-based":[39],"non-singular":[41,65],"fast":[42,66],"terminal":[43,67],"sliding":[44,68,137,175],"mode":[45,69],"(RBF-ANFTSM)":[46],"passive-assist":[49],"systems.":[51],"proposed":[53,107,133],"mitigates":[55],"uncertainties":[56,169],"by":[57,118],"leveraging":[58],"function":[61],"neural":[62],"networks,":[63],"while":[64],"ensures":[71,85],"finite-time":[72],"convergence":[73,160],"and":[74,88,114,122,157],"tackles":[75],"singular":[76],"issues.":[77],"Lyapunov":[79],"approach,":[80],"weight":[83,180],"laws,":[84],"system":[86],"stability":[87],"robustness.":[89],"Effectiveness":[90],"is":[91],"demonstrated":[92],"a":[94],"12-year-old":[95],"CP":[96],"patient":[97],"coupled":[98],"the":[100,106,132,172,178],"exoskeleton.":[101],"Comparative":[102],"analysis":[103],"reveals":[104],"that":[105],"outperforms":[110],"existing":[111],"ANFTSM":[112],"RBF-computed":[115],"torque":[116],"more":[119],"than":[120],"60%":[121],"50%,":[123],"respectively,":[124],"in":[125,166,177],"terms":[126],"of":[127,174],"gait":[128,164],"tracking":[129],"efficiency.":[130],"Additionally,":[131],"exhibits":[135],"converging":[136],"surfaces":[138,176],"lesser":[140],"chattering":[141],"(|s|<inf":[142],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[143,148,153],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">hip</inf>":[144],"<":[145,150,155],"0.03,":[146],"|s|<inf":[147,152],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">knee</inf>":[149],"0.12,":[151],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">ankle</inf>":[154],"0.05)":[156],"offers":[158],"localized":[159],"behavior":[161],"over":[162],"each":[163],"cycle":[165],"estimating":[167],"lumped":[168],"influence":[173],"law,":[181],"underscoring":[182],"its":[183],"effectiveness.":[184]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
