{"id":"https://openalex.org/W4408235778","doi":"https://doi.org/10.1109/robio64047.2024.10907578","title":"Hybrid Adaptive Impedance Control for Physical Therapy with an Affordable End-Point Rehabilitation Robot","display_name":"Hybrid Adaptive Impedance Control for Physical Therapy with an Affordable End-Point Rehabilitation Robot","publication_year":2024,"publication_date":"2024-12-10","ids":{"openalex":"https://openalex.org/W4408235778","doi":"https://doi.org/10.1109/robio64047.2024.10907578"},"language":"en","primary_location":{"id":"doi:10.1109/robio64047.2024.10907578","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio64047.2024.10907578","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5111828205","display_name":"Auwalu M. Abdullahi","orcid":null},"institutions":[{"id":"https://openalex.org/I158708052","display_name":"Chulalongkorn University","ror":"https://ror.org/028wp3y58","country_code":"TH","type":"education","lineage":["https://openalex.org/I158708052"]}],"countries":["TH"],"is_corresponding":true,"raw_author_name":"Auwalu Muhammad Abdullahi","raw_affiliation_strings":["International School of Engineering, Chulalongkorn University,Bangkok,Thailand,10330"],"affiliations":[{"raw_affiliation_string":"International School of Engineering, Chulalongkorn University,Bangkok,Thailand,10330","institution_ids":["https://openalex.org/I158708052"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086288866","display_name":"Khemwutta Pornpipatsakul","orcid":null},"institutions":[{"id":"https://openalex.org/I158708052","display_name":"Chulalongkorn University","ror":"https://ror.org/028wp3y58","country_code":"TH","type":"education","lineage":["https://openalex.org/I158708052"]}],"countries":["TH"],"is_corresponding":false,"raw_author_name":"Khemwutta Pornpipatsakul","raw_affiliation_strings":["Chulalongkorn University,Department of Mechanical Engineering,Bangkok,Thailand,10330"],"affiliations":[{"raw_affiliation_string":"Chulalongkorn University,Department of Mechanical Engineering,Bangkok,Thailand,10330","institution_ids":["https://openalex.org/I158708052"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110434199","display_name":"Ado Haruna","orcid":null},"institutions":[{"id":"https://openalex.org/I158708052","display_name":"Chulalongkorn University","ror":"https://ror.org/028wp3y58","country_code":"TH","type":"education","lineage":["https://openalex.org/I158708052"]}],"countries":["TH"],"is_corresponding":false,"raw_author_name":"Ado Haruna","raw_affiliation_strings":["International School of Engineering, Chulalongkorn University,Bangkok,Thailand,10330"],"affiliations":[{"raw_affiliation_string":"International School of Engineering, Chulalongkorn University,Bangkok,Thailand,10330","institution_ids":["https://openalex.org/I158708052"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5092089214","display_name":"Zahid Ullah","orcid":"https://orcid.org/0000-0003-1443-8209"},"institutions":[{"id":"https://openalex.org/I158708052","display_name":"Chulalongkorn University","ror":"https://ror.org/028wp3y58","country_code":"TH","type":"education","lineage":["https://openalex.org/I158708052"]}],"countries":["TH"],"is_corresponding":false,"raw_author_name":"Zahid Ullah","raw_affiliation_strings":["Chulalongkorn University,Department of Mechanical Engineering,Bangkok,Thailand,10330"],"affiliations":[{"raw_affiliation_string":"Chulalongkorn University,Department of Mechanical Engineering,Bangkok,Thailand,10330","institution_ids":["https://openalex.org/I158708052"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5038463793","display_name":"Ronnapee Chaichaowarat","orcid":"https://orcid.org/0000-0001-5002-7568"},"institutions":[{"id":"https://openalex.org/I158708052","display_name":"Chulalongkorn University","ror":"https://ror.org/028wp3y58","country_code":"TH","type":"education","lineage":["https://openalex.org/I158708052"]}],"countries":["TH"],"is_corresponding":false,"raw_author_name":"Ronnapee Chaichaowarat","raw_affiliation_strings":["International School of Engineering, Chulalongkorn University,Bangkok,Thailand,10330"],"affiliations":[{"raw_affiliation_string":"International School of Engineering, Chulalongkorn University,Bangkok,Thailand,10330","institution_ids":["https://openalex.org/I158708052"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5111828205"],"corresponding_institution_ids":["https://openalex.org/I158708052"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.25110271,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"446","last_page":"451"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.995199978351593,"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":0.995199978351593,"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":0.9890000224113464,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.987500011920929,"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/impedance-control","display_name":"Impedance control","score":0.5681872367858887},{"id":"https://openalex.org/keywords/rehabilitation","display_name":"Rehabilitation","score":0.5500097870826721},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5256977081298828},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49367865920066833},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.47814643383026123},{"id":"https://openalex.org/keywords/end-point","display_name":"End point","score":0.45354169607162476},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.45224839448928833},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4391743838787079},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.419332355260849},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.38261982798576355},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.3444048762321472},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27670180797576904},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.23479261994361877},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.18619057536125183},{"id":"https://openalex.org/keywords/physical-therapy","display_name":"Physical therapy","score":0.17699852585792542},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16539910435676575},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.11427003145217896},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.10524564981460571}],"concepts":[{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.5681872367858887},{"id":"https://openalex.org/C2778818304","wikidata":"https://www.wikidata.org/wiki/Q1819478","display_name":"Rehabilitation","level":2,"score":0.5500097870826721},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5256977081298828},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49367865920066833},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.47814643383026123},{"id":"https://openalex.org/C2987804222","wikidata":"https://www.wikidata.org/wiki/Q5376582","display_name":"End point","level":2,"score":0.45354169607162476},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.45224839448928833},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4391743838787079},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.419332355260849},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.38261982798576355},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.3444048762321472},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27670180797576904},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.23479261994361877},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.18619057536125183},{"id":"https://openalex.org/C1862650","wikidata":"https://www.wikidata.org/wiki/Q186005","display_name":"Physical therapy","level":1,"score":0.17699852585792542},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16539910435676575},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.11427003145217896},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.10524564981460571}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio64047.2024.10907578","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio64047.2024.10907578","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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":30,"referenced_works":["https://openalex.org/W1978023077","https://openalex.org/W2003336762","https://openalex.org/W2044127092","https://openalex.org/W2053099831","https://openalex.org/W2767304633","https://openalex.org/W2892614246","https://openalex.org/W3094117335","https://openalex.org/W3117954560","https://openalex.org/W3137664120","https://openalex.org/W3181223963","https://openalex.org/W3183240622","https://openalex.org/W3207594049","https://openalex.org/W3214924185","https://openalex.org/W4220668453","https://openalex.org/W4221166649","https://openalex.org/W4287385010","https://openalex.org/W4311845473","https://openalex.org/W4311980902","https://openalex.org/W4313472115","https://openalex.org/W4317508601","https://openalex.org/W4379385260","https://openalex.org/W4383722103","https://openalex.org/W4385488338","https://openalex.org/W4388894557","https://openalex.org/W4389199488","https://openalex.org/W4390099816","https://openalex.org/W4393253928","https://openalex.org/W4394942568","https://openalex.org/W4401110972","https://openalex.org/W4403301053"],"related_works":["https://openalex.org/W1548357495","https://openalex.org/W2314048082","https://openalex.org/W1968487248","https://openalex.org/W2097006611","https://openalex.org/W4295916778","https://openalex.org/W2112995122","https://openalex.org/W2165087119","https://openalex.org/W1975719792","https://openalex.org/W4229452671","https://openalex.org/W2329399298"],"abstract_inverted_index":{"Technology":[0],"has":[1],"virtually":[2],"been":[3],"employed":[4],"in":[5,71],"most":[6],"of":[7,37,116,133,159,188],"our":[8],"daily":[9],"life":[10],"activities,":[11],"which":[12],"include":[13],"medical":[14],"rehabilitation.":[15],"End-point":[16],"and":[17,146,165],"exoskeleton":[18],"robots":[19],"are":[20,170],"currently":[21],"used":[22,79,181],"to":[23,26,30,49,80,138],"replace":[24],"physiotherapists":[25],"independently":[27],"allow":[28],"patients":[29],"carry":[31],"out":[32],"a":[33,59,183],"specific":[34],"frequent":[35],"number":[36],"repetitive":[38],"exercises":[39],"during":[40,54],"physical":[41,152],"therapy.":[42],"However,":[43],"the":[44,55,82,88,113,124,130,134,160,166,174],"human-robot":[45,148],"interaction":[46,96,149],"force":[47,85,169],"needs":[48],"be":[50,180],"controlled":[51],"for":[52,151,185],"safety":[53],"therapy":[56,153],"exercise.":[57],"Therefore,":[58],"hybrid":[60],"control":[61,105,126,177],"combined":[62],"with":[63,66,94],"adaptive":[64],"impedance":[65],"admittance":[67],"controllers":[68],"is":[69,78,127],"presented":[70],"this":[72,122],"work.":[73],"An":[74],"extended":[75],"state":[76],"observer":[77],"estimate":[81],"endpoint":[83,161],"contact":[84,168],"applied":[86],"by":[87],"patient,":[89],"based":[90],"on":[91,112,129],"force-torque":[92],"mapping":[93],"estimated":[95,167],"joint":[97],"torque":[98],"via":[99,109],"inverse":[100],"Jacobian":[101],"transformation.":[102],"The":[103,156,176],"proposed":[104,125],"was":[106,154],"previously":[107],"implemented":[108,128],"MATLAB":[110],"simulation":[111],"dynamic":[114],"model":[115],"an":[117],"upper-limb":[118],"wearable":[119],"robot.":[120],"In":[121],"work,":[123],"built":[131],"prototype":[132],"end-point":[135],"rehabilitation":[136,190],"robot":[137],"evaluate":[139],"performance":[140],"through":[141],"real-world":[142],"experiments.":[143],"A":[144],"safe":[145],"compliant":[147],"required":[150],"validated.":[155],"experimental":[157],"results":[158],"cartesian":[162],"position":[163],"tracking":[164],"as":[171,182],"predicted":[172],"from":[173],"simulation.":[175],"method":[178],"can":[179],"guideline":[184],"further":[186],"improvement":[187],"affordable":[189],"robots.":[191]},"counts_by_year":[],"updated_date":"2025-12-21T23:12:01.093139","created_date":"2025-10-10T00:00:00"}