{"id":"https://openalex.org/W1968713461","doi":"https://doi.org/10.1109/icecs.2011.6122388","title":"Nonlinear control of an upper-limb exoskelton robot","display_name":"Nonlinear control of an upper-limb exoskelton robot","publication_year":2011,"publication_date":"2011-12-01","ids":{"openalex":"https://openalex.org/W1968713461","doi":"https://doi.org/10.1109/icecs.2011.6122388","mag":"1968713461"},"language":"en","primary_location":{"id":"doi:10.1109/icecs.2011.6122388","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icecs.2011.6122388","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 18th IEEE International Conference on Electronics, Circuits, and Systems","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/A5001664816","display_name":"Mohammad Habibur Rahman","orcid":"https://orcid.org/0000-0002-6370-8757"},"institutions":[{"id":"https://openalex.org/I9736820","display_name":"\u00c9cole de Technologie Sup\u00e9rieure","ror":"https://ror.org/0020snb74","country_code":"CA","type":"education","lineage":["https://openalex.org/I49663120","https://openalex.org/I9736820"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"M. H. Rahman","raw_affiliation_strings":["Electrical Engineering, \u00c9cole de technologie sup\u00e9rieure, Montreal, Canada"],"affiliations":[{"raw_affiliation_string":"Electrical Engineering, \u00c9cole de technologie sup\u00e9rieure, Montreal, Canada","institution_ids":["https://openalex.org/I9736820"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052040583","display_name":"T. K-Ouimet","orcid":null},"institutions":[{"id":"https://openalex.org/I9736820","display_name":"\u00c9cole de Technologie Sup\u00e9rieure","ror":"https://ror.org/0020snb74","country_code":"CA","type":"education","lineage":["https://openalex.org/I49663120","https://openalex.org/I9736820"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"T. K-Ouimet","raw_affiliation_strings":["Electrical Engineering, \u00c9cole de technologie sup\u00e9rieure, Montreal, Canada"],"affiliations":[{"raw_affiliation_string":"Electrical Engineering, \u00c9cole de technologie sup\u00e9rieure, Montreal, Canada","institution_ids":["https://openalex.org/I9736820"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063495088","display_name":"Maarouf Saad","orcid":"https://orcid.org/0000-0003-2547-2509"},"institutions":[{"id":"https://openalex.org/I9736820","display_name":"\u00c9cole de Technologie Sup\u00e9rieure","ror":"https://ror.org/0020snb74","country_code":"CA","type":"education","lineage":["https://openalex.org/I49663120","https://openalex.org/I9736820"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"M. Saad","raw_affiliation_strings":["Electrical Engineering, \u00c9cole de technologie sup\u00e9rieure, Montreal, Canada"],"affiliations":[{"raw_affiliation_string":"Electrical Engineering, \u00c9cole de technologie sup\u00e9rieure, Montreal, Canada","institution_ids":["https://openalex.org/I9736820"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069393428","display_name":"Jean\u2010Pierre Kenn\u00e9","orcid":"https://orcid.org/0000-0002-2019-3589"},"institutions":[{"id":"https://openalex.org/I9736820","display_name":"\u00c9cole de Technologie Sup\u00e9rieure","ror":"https://ror.org/0020snb74","country_code":"CA","type":"education","lineage":["https://openalex.org/I49663120","https://openalex.org/I9736820"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"J-P. Kenne","raw_affiliation_strings":["Mechanical Engineering, \u00c9cole de technologie sup\u00e9rieure, Montreal, Canada"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering, \u00c9cole de technologie sup\u00e9rieure, Montreal, Canada","institution_ids":["https://openalex.org/I9736820"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011820328","display_name":"Philippe S. Archambault","orcid":"https://orcid.org/0000-0002-8656-4477"},"institutions":[{"id":"https://openalex.org/I5023651","display_name":"McGill University","ror":"https://ror.org/01pxwe438","country_code":"CA","type":"education","lineage":["https://openalex.org/I5023651"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"P. S. Archambault","raw_affiliation_strings":["School of Physical & Occupational Therapy, McGill University, Montreal, Canada"],"affiliations":[{"raw_affiliation_string":"School of Physical & Occupational Therapy, McGill University, Montreal, Canada","institution_ids":["https://openalex.org/I5023651"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5001664816"],"corresponding_institution_ids":["https://openalex.org/I9736820"],"apc_list":null,"apc_paid":null,"fwci":0.2971,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.65004866,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"772","last_page":"775"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9993000030517578,"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":0.9993000030517578,"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":0.9976000189781189,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9926999807357788,"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/exoskeleton","display_name":"Exoskeleton","score":0.7421181201934814},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6589451432228088},{"id":"https://openalex.org/keywords/elbow","display_name":"Elbow","score":0.650630533695221},{"id":"https://openalex.org/keywords/wrist","display_name":"Wrist","score":0.6237914562225342},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6099884510040283},{"id":"https://openalex.org/keywords/upper-limb","display_name":"Upper limb","score":0.5897052884101868},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.5590370893478394},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5526620745658875},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.51313716173172},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5118800401687622},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5009171962738037},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.4236324429512024},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.354171484708786},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3190503418445587},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.2875266671180725},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23251008987426758},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.20599400997161865},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.14588284492492676},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.09374842047691345},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08075055480003357}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.7421181201934814},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6589451432228088},{"id":"https://openalex.org/C2781184374","wikidata":"https://www.wikidata.org/wiki/Q42586","display_name":"Elbow","level":2,"score":0.650630533695221},{"id":"https://openalex.org/C2778216619","wikidata":"https://www.wikidata.org/wiki/Q185706","display_name":"Wrist","level":2,"score":0.6237914562225342},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6099884510040283},{"id":"https://openalex.org/C2776660947","wikidata":"https://www.wikidata.org/wiki/Q841423","display_name":"Upper limb","level":2,"score":0.5897052884101868},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.5590370893478394},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5526620745658875},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.51313716173172},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5118800401687622},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5009171962738037},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.4236324429512024},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.354171484708786},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3190503418445587},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.2875266671180725},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23251008987426758},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.20599400997161865},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.14588284492492676},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.09374842047691345},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08075055480003357},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/icecs.2011.6122388","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icecs.2011.6122388","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 18th IEEE International Conference on Electronics, Circuits, and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:espace2.etsmtl.ca:4177","is_oa":false,"landing_page_url":"http://espace2.etsmtl.ca/id/eprint/4177/","pdf_url":null,"source":{"id":"https://openalex.org/S4306402392","display_name":"Espace \u00c9TS (ETS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1341030882","host_organization_name":"Educational Testing Service","host_organization_lineage":["https://openalex.org/I1341030882"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Compte rendu de conf\u00e9rence"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.7799999713897705,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":7,"referenced_works":["https://openalex.org/W1487127700","https://openalex.org/W1982221577","https://openalex.org/W2025939589","https://openalex.org/W2046505691","https://openalex.org/W2079336331","https://openalex.org/W2123346068","https://openalex.org/W2191637160"],"related_works":["https://openalex.org/W2901258812","https://openalex.org/W2887985348","https://openalex.org/W2401700601","https://openalex.org/W2570835373","https://openalex.org/W3198063775","https://openalex.org/W3017269254","https://openalex.org/W2557545276","https://openalex.org/W4387054232","https://openalex.org/W2590554196","https://openalex.org/W3108873944"],"abstract_inverted_index":{"To":[0,71],"assist":[1,47],"or":[2],"rehabilitate":[3],"individuals":[4],"with":[5,48],"impaired":[6],"upper-limb":[7,13],"function,":[8],"we":[9,58,78],"have":[10],"developed":[11,96],"an":[12],"exoskeleton":[14],"robot,":[15],"the":[16,37,73,80,90,95,100],"ETS-MARSE":[17],"(motion":[18],"assistive":[19],"robotic-exoskeleton":[20],"for":[21],"superior":[22],"extremity).":[23],"The":[24],"MARSE":[25,97],"has":[26],"seven":[27],"degrees-of-freedom":[28],"(DoFs)":[29],"and":[30,51],"is":[31,44],"designed":[32],"to":[33,46,98],"be":[34],"worn":[35],"on":[36],"lateral":[38],"side":[39],"of":[40,75,82],"upper":[41],"limb.":[42],"It":[43],"able":[45],"shoulder,":[49],"elbow":[50],"wrist":[52],"joint":[53],"movements.":[54],"In":[55],"this":[56],"paper":[57],"implemented":[59],"a":[60,65],"trajectory":[61],"tracking":[62],"algorithm":[63],"using":[64],"nonlinear":[66],"sliding":[67],"mode":[68],"controller":[69],"(SMC).":[70],"eliminate":[72],"chattering":[74],"conventional":[76],"SMC,":[77],"employed":[79],"concept":[81],"boundary":[83],"layer":[84],"technique.":[85],"Experimental":[86],"results":[87],"show":[88],"that":[89],"SMC":[91],"can":[92],"effectively":[93],"maneuver":[94],"follow":[99],"reference":[101],"trajectory.":[102]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
