{"id":"https://openalex.org/W4392408297","doi":"https://doi.org/10.1109/icsc58660.2023.10449815","title":"Enhancing Knee Rehabilitation Exoskeleton Control via a Robust LMI-Based Strategy and by Considering State Constraints","display_name":"Enhancing Knee Rehabilitation Exoskeleton Control via a Robust LMI-Based Strategy and by Considering State Constraints","publication_year":2023,"publication_date":"2023-12-18","ids":{"openalex":"https://openalex.org/W4392408297","doi":"https://doi.org/10.1109/icsc58660.2023.10449815"},"language":"en","primary_location":{"id":"doi:10.1109/icsc58660.2023.10449815","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icsc58660.2023.10449815","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 11th International Conference on Systems and Control (ICSC)","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/A5049531905","display_name":"Sahar Jenhani","orcid":"https://orcid.org/0000-0002-7803-9955"},"institutions":[{"id":"https://openalex.org/I108714496","display_name":"Tunis University","ror":"https://ror.org/02q1spa57","country_code":"TN","type":"education","lineage":["https://openalex.org/I108714496"]},{"id":"https://openalex.org/I4210131288","display_name":"National Engineering School of Tunis","ror":"https://ror.org/03b1zjt31","country_code":"TN","type":"education","lineage":["https://openalex.org/I4210131288","https://openalex.org/I63596082"]},{"id":"https://openalex.org/I63596082","display_name":"Tunis El Manar University","ror":"https://ror.org/029cgt552","country_code":"TN","type":"education","lineage":["https://openalex.org/I63596082"]}],"countries":["TN"],"is_corresponding":true,"raw_author_name":"Sahar Jenhani","raw_affiliation_strings":["National Engineering School of Tunis, University of Tunis El Manar,Laboratory of Robotics, Informatics and Complex Systems (RISC Lab - LR16ES07),Tunis,Tunisia,1002"],"affiliations":[{"raw_affiliation_string":"National Engineering School of Tunis, University of Tunis El Manar,Laboratory of Robotics, Informatics and Complex Systems (RISC Lab - LR16ES07),Tunis,Tunisia,1002","institution_ids":["https://openalex.org/I4210131288","https://openalex.org/I108714496","https://openalex.org/I63596082"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019458989","display_name":"Hass\u00e8ne Gritli","orcid":"https://orcid.org/0000-0002-5643-134X"},"institutions":[{"id":"https://openalex.org/I179097149","display_name":"University of Carthage","ror":"https://ror.org/057x6za15","country_code":"TN","type":"education","lineage":["https://openalex.org/I179097149"]}],"countries":["TN"],"is_corresponding":false,"raw_author_name":"Hass\u00e8ne Gritli","raw_affiliation_strings":["Higher Institute of Information and Communication Technologies, University of Carthage,Tunis,Tunisia,1164","RISC Lab"],"affiliations":[{"raw_affiliation_string":"Higher Institute of Information and Communication Technologies, University of Carthage,Tunis,Tunisia,1164","institution_ids":["https://openalex.org/I179097149"]},{"raw_affiliation_string":"RISC Lab","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5049531905"],"corresponding_institution_ids":["https://openalex.org/I108714496","https://openalex.org/I4210131288","https://openalex.org/I63596082"],"apc_list":null,"apc_paid":null,"fwci":1.0125,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.73974956,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"905","last_page":"911"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9994999766349792,"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":0.9994999766349792,"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":0.9901999831199646,"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/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9861000180244446,"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":0.860264778137207},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5458924174308777},{"id":"https://openalex.org/keywords/rehabilitation","display_name":"Rehabilitation","score":0.5160593390464783},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5106740593910217},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.48743322491645813},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.4483996033668518},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.44406723976135254},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.38609549403190613},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.32750970125198364},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.2552713453769684},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2541778087615967},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.20813223719596863},{"id":"https://openalex.org/keywords/physical-therapy","display_name":"Physical therapy","score":0.15904271602630615},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14241907000541687},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.13812458515167236}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.860264778137207},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5458924174308777},{"id":"https://openalex.org/C2778818304","wikidata":"https://www.wikidata.org/wiki/Q1819478","display_name":"Rehabilitation","level":2,"score":0.5160593390464783},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5106740593910217},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.48743322491645813},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.4483996033668518},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.44406723976135254},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.38609549403190613},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.32750970125198364},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2552713453769684},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2541778087615967},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.20813223719596863},{"id":"https://openalex.org/C1862650","wikidata":"https://www.wikidata.org/wiki/Q186005","display_name":"Physical therapy","level":1,"score":0.15904271602630615},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14241907000541687},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.13812458515167236},{"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/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icsc58660.2023.10449815","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icsc58660.2023.10449815","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 11th International Conference on Systems and Control (ICSC)","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":29,"referenced_works":["https://openalex.org/W836842781","https://openalex.org/W1627535430","https://openalex.org/W1984322858","https://openalex.org/W1985496190","https://openalex.org/W2498987434","https://openalex.org/W2587576026","https://openalex.org/W2887329358","https://openalex.org/W2902877257","https://openalex.org/W2945331685","https://openalex.org/W2952991837","https://openalex.org/W2970489687","https://openalex.org/W2972769198","https://openalex.org/W2973258268","https://openalex.org/W3002720596","https://openalex.org/W3007437250","https://openalex.org/W3037011492","https://openalex.org/W3097313050","https://openalex.org/W3129871598","https://openalex.org/W3171780716","https://openalex.org/W3183839786","https://openalex.org/W4220779835","https://openalex.org/W4308548633","https://openalex.org/W4311096875","https://openalex.org/W4378228260","https://openalex.org/W4381327873","https://openalex.org/W4381332010","https://openalex.org/W4381387789","https://openalex.org/W4382657783","https://openalex.org/W4386390896"],"related_works":["https://openalex.org/W2901258812","https://openalex.org/W2887985348","https://openalex.org/W2401700601","https://openalex.org/W2258092894","https://openalex.org/W1979214824","https://openalex.org/W2104109729","https://openalex.org/W324942907","https://openalex.org/W2685330831","https://openalex.org/W2386946123","https://openalex.org/W1990564581"],"abstract_inverted_index":{"This":[0],"study":[1],"introduces":[2],"a":[3,100],"robust":[4,168],"control":[5,52,169],"strategy":[6],"to":[7,124],"regulate":[8],"the":[9,51,57,66,72,75,81,90,110,113,116,121,132,135,141,145,148,152,155,161,164,167,171],"position":[10],"of":[11,18,45,74,134,147,154,163,170],"knee":[12,82,137,172],"rehabilitation":[13],"exoskeleton":[14,77,138,173],"robot.":[15,174],"A":[16],"description":[17],"this":[19],"particular":[20],"robotic":[21,78],"system":[22,32,79],"and":[23,41,61,85,104,120,159],"its":[24,62,87],"nonlinear":[25],"dynamic":[26],"model":[27],"are":[28,47],"outlined":[29],"first.":[30],"The":[31],"faces":[33],"challenges":[34],"such":[35,108],"as":[36,109],"state":[37],"constraints,":[38],"external":[39],"disruptions,":[40],"parameter":[42],"uncertainties,":[43],"all":[44],"which":[46],"meticulously":[48],"addressed":[49],"in":[50,151,166],"design.":[53],"Subsequently,":[54],"we":[55],"define":[56],"affine":[58],"state-feedback":[59],"controller":[60,165],"design":[63,153],"based":[64],"on":[65],"LMI":[67,128,156],"approach,":[68],"aimed":[69],"at":[70,80,89],"ensuring":[71],"stabilization":[73],"active":[76],"joint":[83],"level":[84],"hence":[86,160],"stability":[88,133,157],"desired":[91],"position.":[92],"To":[93],"achieve":[94],"this,":[95],"our":[96],"proposed":[97,149],"method":[98],"utilizes":[99],"quadratic":[101],"Lyapunov":[102],"function":[103],"leverages":[105],"mathematical":[106],"tools":[107],"S-procedure":[111],"Lemma,":[112,119],"Schur":[114],"complement,":[115],"matrix":[117],"inversion":[118],"Young":[122],"inequality":[123],"derive":[125],"finally":[126],"two":[127],"conditions":[129],"that":[130],"guarantee":[131],"controlled":[136],"system.":[139],"Finally,":[140],"simulation":[142],"studies":[143],"validate":[144],"effectiveness":[146],"approach":[150],"condition":[158],"efficiency":[162]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":6}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}