{"id":"https://openalex.org/W2051822397","doi":"https://doi.org/10.1109/icorr.2013.6650475","title":"Assist-as-needed path control for the PASCAL rehabilitation robot","display_name":"Assist-as-needed path control for the PASCAL rehabilitation robot","publication_year":2013,"publication_date":"2013-06-01","ids":{"openalex":"https://openalex.org/W2051822397","doi":"https://doi.org/10.1109/icorr.2013.6650475","mag":"2051822397","pmid":"https://pubmed.ncbi.nlm.nih.gov/24187292"},"language":"en","primary_location":{"id":"doi:10.1109/icorr.2013.6650475","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icorr.2013.6650475","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE 13th International Conference on Rehabilitation Robotics (ICORR)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref","pubmed"],"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/A5082417003","display_name":"Urs Keller","orcid":"https://orcid.org/0000-0001-6615-6452"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Urs Keller","raw_affiliation_strings":["Sensory-Motor Systems Lab, ETH Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Sensory-Motor Systems Lab, ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046591192","display_name":"Georg Rauter","orcid":"https://orcid.org/0000-0001-9089-8181"},"institutions":[{"id":"https://openalex.org/I2799323385","display_name":"Board of the Swiss Federal Institutes of Technology","ror":"https://ror.org/01rvn4p91","country_code":"CH","type":"government","lineage":["https://openalex.org/I2799323385"]},{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Georg Rauter","raw_affiliation_strings":["Eidgenossische Technische Hochschule Zurich, Zurich, ZH, CH"],"affiliations":[{"raw_affiliation_string":"Eidgenossische Technische Hochschule Zurich, Zurich, ZH, CH","institution_ids":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053676944","display_name":"Robert Riener","orcid":"https://orcid.org/0000-0002-1726-2950"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Robert Riener","raw_affiliation_strings":["Sensory-Motor Systems Lab, ETH Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Sensory-Motor Systems Lab, ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5082417003"],"corresponding_institution_ids":["https://openalex.org/I35440088"],"apc_list":null,"apc_paid":null,"fwci":2.5226,"has_fulltext":false,"cited_by_count":39,"citation_normalized_percentile":{"value":0.87393411,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"2013","issue":null,"first_page":"1","last_page":"7"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9976999759674072,"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":0.9976999759674072,"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":0.9975000023841858,"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/T11097","display_name":"Cerebral Palsy and Movement Disorders","score":0.9943000078201294,"subfield":{"id":"https://openalex.org/subfields/2738","display_name":"Psychiatry and Mental health"},"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/computer-science","display_name":"Computer science","score":0.5720885992050171},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5287986397743225},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5012025833129883},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.4868268370628357},{"id":"https://openalex.org/keywords/rehabilitation","display_name":"Rehabilitation","score":0.47643762826919556},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4417233467102051},{"id":"https://openalex.org/keywords/cerebral-palsy","display_name":"Cerebral palsy","score":0.43751320242881775},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.42407679557800293},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.41463056206703186},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.3870367407798767},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2984614372253418},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.23870578408241272},{"id":"https://openalex.org/keywords/physical-therapy","display_name":"Physical therapy","score":0.20800873637199402}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5720885992050171},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5287986397743225},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5012025833129883},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.4868268370628357},{"id":"https://openalex.org/C2778818304","wikidata":"https://www.wikidata.org/wiki/Q1819478","display_name":"Rehabilitation","level":2,"score":0.47643762826919556},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4417233467102051},{"id":"https://openalex.org/C2779421357","wikidata":"https://www.wikidata.org/wiki/Q210427","display_name":"Cerebral palsy","level":2,"score":0.43751320242881775},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.42407679557800293},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.41463056206703186},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.3870367407798767},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2984614372253418},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.23870578408241272},{"id":"https://openalex.org/C1862650","wikidata":"https://www.wikidata.org/wiki/Q186005","display_name":"Physical therapy","level":1,"score":0.20800873637199402},{"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[{"descriptor_ui":"D001132","descriptor_name":"Arm","qualifier_ui":"Q000503","qualifier_name":"physiopathology","is_major_topic":false},{"descriptor_ui":"D001132","descriptor_name":"Arm","qualifier_ui":"Q000503","qualifier_name":"physiopathology","is_major_topic":false},{"descriptor_ui":"D001132","descriptor_name":"Arm","qualifier_ui":"Q000503","qualifier_name":"physiopathology","is_major_topic":false},{"descriptor_ui":"D002547","descriptor_name":"Cerebral Palsy","qualifier_ui":"Q000534","qualifier_name":"rehabilitation","is_major_topic":false},{"descriptor_ui":"D002547","descriptor_name":"Cerebral Palsy","qualifier_ui":"Q000534","qualifier_name":"rehabilitation","is_major_topic":false},{"descriptor_ui":"D002547","descriptor_name":"Cerebral Palsy","qualifier_ui":"Q000534","qualifier_name":"rehabilitation","is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D012656","descriptor_name":"Self-Help Devices","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012656","descriptor_name":"Self-Help Devices","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012656","descriptor_name":"Self-Help Devices","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true}],"locations_count":2,"locations":[{"id":"doi:10.1109/icorr.2013.6650475","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icorr.2013.6650475","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE 13th International Conference on Rehabilitation Robotics (ICORR)","raw_type":"proceedings-article"},{"id":"pmid:24187292","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/24187292","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6800000071525574,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1966775428","https://openalex.org/W1972194218","https://openalex.org/W1978023077","https://openalex.org/W2016159219","https://openalex.org/W2048250818","https://openalex.org/W2056556983","https://openalex.org/W2058543238","https://openalex.org/W2066751209","https://openalex.org/W2079836588","https://openalex.org/W2089421806","https://openalex.org/W2097590197","https://openalex.org/W2115482830","https://openalex.org/W2133322641","https://openalex.org/W2147582248","https://openalex.org/W2153918512","https://openalex.org/W2161839080","https://openalex.org/W2164553222","https://openalex.org/W2167449101","https://openalex.org/W2167880628","https://openalex.org/W2208145366"],"related_works":["https://openalex.org/W1666086067","https://openalex.org/W2358209577","https://openalex.org/W2359600231","https://openalex.org/W3216757130","https://openalex.org/W2380019117","https://openalex.org/W2093343611","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3154539612"],"abstract_inverted_index":{"Adults":[0],"and":[1,80,133,233,248],"children":[2,104,227],"with":[3,105,120,157,181],"neurological":[4],"disorders":[5],"often":[6],"require":[7],"rehabilitation":[8,241],"therapy":[9,21,242],"to":[10,17,38,51,55,69,72,124,134,152,204,220,223,235],"improve":[11],"their":[12],"arm":[13,29,53,68,128],"motor":[14],"functions.":[15],"Complementary":[16],"conventional":[18],"therapy,":[19],"robotic":[20],"can":[22],"be":[23,221],"applied.":[24],"Such":[25],"robots":[26],"should":[27],"support":[28,54,203],"movements":[30],"while":[31,76],"assisting":[32,244],"only":[33],"as":[34,36,161,163,228,230],"much":[35],"needed":[37],"ensure":[39],"an":[40,86,116,164,205,251],"active":[41,252],"participation":[42],"of":[43,115,239],"the":[44,56,66,96,127,137,172,193,216,237,240,245],"patient.":[45,57],"Different":[46],"control":[47,110,176],"strategies":[48],"are":[49],"known":[50],"provide":[52],"The":[58,108,189],"path":[59,75,88,118,175],"controller":[60,89,119,191,217],"is":[61,90,93,112,130,139,148,218],"a":[62,73,113,143,154,158,182,196],"strategy":[63],"that":[64,92,169,209],"helps":[65],"patient's":[67],"stay":[70],"close":[71,214],"given":[74],"allowing":[77],"for":[78,103],"temporal":[79],"spatial":[81],"freedom.":[82],"In":[83,213],"this":[84],"paper,":[85],"assist-as-needed":[87],"presented":[91,190],"implemented":[94],"in":[95,150,186,226,231],"end-effector-based":[97],"robot":[98],"PASCAL,":[99],"which":[100],"was":[101],"designed":[102],"cerebral":[106],"palsy.":[107],"new":[109],"approach":[111],"combination":[114],"existing":[117],"additional":[121],"speed":[122,129,138],"restrictions":[123],"support,":[125],"when":[126,136],"too":[131,140],"slow,":[132],"resist,":[135],"fast.":[141],"Furthermore,":[142],"target":[144,155],"position":[145,156],"gain":[146],"scheduling":[147],"introduced":[149],"order":[151],"reach":[153],"predefined":[159],"precision":[160],"well":[162,229],"adaptable":[165],"direction-dependent":[166],"supportive":[167],"flux":[168],"supports":[170],"along":[171],"path.":[173],"These":[174],"features":[177],"were":[178],"preliminarily":[179],"tested":[180],"healthy":[183],"adult":[184],"volunteer":[185],"different":[187],"conditions.":[188],"covers":[192],"range":[194],"from":[195],"completely":[197],"passive":[198],"user,":[199],"who":[200],"needs":[201,210],"full":[202],"actively":[206],"performed":[207],"movement":[208,247],"no":[211],"assistance.":[212],"future,":[215],"planned":[219],"used":[222],"enable":[224],"reaching":[225],"adults":[232],"help":[234],"increase":[236],"intensity":[238],"by":[243,249],"hand":[246],"provoking":[250],"participation.":[253]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":4}],"updated_date":"2026-03-06T13:50:29.536080","created_date":"2025-10-10T00:00:00"}
