{"id":"https://openalex.org/W2100509069","doi":"https://doi.org/10.1109/robot.2006.1641743","title":"Adaptive torque control of electro-rheological fluid brakes used in active knee rehabilitation devices","display_name":"Adaptive torque control of electro-rheological fluid brakes used in active knee rehabilitation devices","publication_year":2006,"publication_date":"2006-07-10","ids":{"openalex":"https://openalex.org/W2100509069","doi":"https://doi.org/10.1109/robot.2006.1641743","mag":"2100509069"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2006.1641743","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2006.1641743","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.","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":"https://openalex.org/A5006413423","display_name":"Jason Nikitczuk","orcid":null},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J. Nikitczuk","raw_affiliation_strings":["Department of Mechanical & Industrial Engineering, Northeastern University, Boston, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical & Industrial Engineering, Northeastern University, Boston, MA, USA","institution_ids":["https://openalex.org/I12912129"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015311847","display_name":"Arijit Das","orcid":"https://orcid.org/0000-0002-4018-8859"},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"A. Das","raw_affiliation_strings":["Department of Mechanical & Industrial Engineering, Northeastern University, Boston, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical & Industrial Engineering, Northeastern University, Boston, MA, USA","institution_ids":["https://openalex.org/I12912129"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020263439","display_name":"H. Vyas","orcid":null},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"H. Vyas","raw_affiliation_strings":["Department of Mechanical & Industrial Engineering, Northeastern University, Boston, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical & Industrial Engineering, Northeastern University, Boston, MA, USA","institution_ids":["https://openalex.org/I12912129"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016036951","display_name":"Brian Weinberg","orcid":null},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"B. Weinberg","raw_affiliation_strings":["Department of Mechanical & Industrial Engineering, Northeastern University, Boston, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical & Industrial Engineering, Northeastern University, Boston, MA, USA","institution_ids":["https://openalex.org/I12912129"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019166616","display_name":"Constantinos Mavroidis","orcid":null},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"C. Mavroidis","raw_affiliation_strings":["Department of Mechanical & Industrial Engineering, Northeastern University, Boston, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical & Industrial Engineering, Northeastern University, Boston, MA, USA","institution_ids":["https://openalex.org/I12912129"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I12912129"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"13","issue":null,"first_page":"393","last_page":"399"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10690","display_name":"Vibration Control and Rheological Fluids","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T10690","display_name":"Vibration Control and Rheological Fluids","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T10114","display_name":"Balance, Gait, and Falls Prevention","score":0.9923999905586243,"subfield":{"id":"https://openalex.org/subfields/3612","display_name":"Physical Therapy, Sports Therapy and Rehabilitation"},"field":{"id":"https://openalex.org/fields/36","display_name":"Health Professions"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9843999743461609,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/torque","display_name":"Torque","score":0.74659663438797},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6606644988059998},{"id":"https://openalex.org/keywords/brake","display_name":"Brake","score":0.5864661931991577},{"id":"https://openalex.org/keywords/magnetorheological-fluid","display_name":"Magnetorheological fluid","score":0.530064046382904},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5264022350311279},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4547632336616516},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.453263521194458},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4519748389720917},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.45172566175460815},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.4356006979942322},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.43078798055648804},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3885568678379059},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.30637866258621216},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1861238181591034},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09986001253128052},{"id":"https://openalex.org/keywords/damper","display_name":"Damper","score":0.09948650002479553},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09017813205718994},{"id":"https://openalex.org/keywords/temperature-control","display_name":"Temperature control","score":0.0678921639919281}],"concepts":[{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.74659663438797},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6606644988059998},{"id":"https://openalex.org/C2780999251","wikidata":"https://www.wikidata.org/wiki/Q17022503","display_name":"Brake","level":2,"score":0.5864661931991577},{"id":"https://openalex.org/C108619579","wikidata":"https://www.wikidata.org/wiki/Q902419","display_name":"Magnetorheological fluid","level":3,"score":0.530064046382904},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5264022350311279},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4547632336616516},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.453263521194458},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4519748389720917},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.45172566175460815},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.4356006979942322},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.43078798055648804},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3885568678379059},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.30637866258621216},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1861238181591034},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09986001253128052},{"id":"https://openalex.org/C140096630","wikidata":"https://www.wikidata.org/wiki/Q3423628","display_name":"Damper","level":2,"score":0.09948650002479553},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09017813205718994},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.0678921639919281},{"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},{"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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2006.1641743","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2006.1641743","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/3","display_name":"Good health and well-being","score":0.6700000166893005}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W82152873","https://openalex.org/W1500816651","https://openalex.org/W1519882397","https://openalex.org/W1903709787","https://openalex.org/W1968134134","https://openalex.org/W2019740478","https://openalex.org/W2026438882","https://openalex.org/W2066701623","https://openalex.org/W2082648319","https://openalex.org/W2104538962","https://openalex.org/W2113030355","https://openalex.org/W2113133147","https://openalex.org/W2121111520","https://openalex.org/W2126911703","https://openalex.org/W2134639419","https://openalex.org/W2142304638","https://openalex.org/W2168531674","https://openalex.org/W2325198585","https://openalex.org/W6639836527"],"related_works":["https://openalex.org/W2385606642","https://openalex.org/W2907673504","https://openalex.org/W4213232401","https://openalex.org/W2060421025","https://openalex.org/W2978958514","https://openalex.org/W2148589950","https://openalex.org/W1987570800","https://openalex.org/W2258420680","https://openalex.org/W2130711742","https://openalex.org/W1985377337"],"abstract_inverted_index":{"This":[0],"paper":[1],"describes":[2],"the":[3,72,102,112],"development":[4],"of":[5,54,74,90,111],"an":[6,66,83],"adaptive":[7],"nonlinear":[8],"PI":[9,44,61],"torque":[10,62],"control":[11,45,113],"for":[12],"electro-rheological":[13,121],"fluid":[14,31,122],"(ERF)":[15,32],"based":[16,86,123],"variable":[17],"resistance":[18],"brakes":[19,124],"that":[20,64],"are":[21,35],"used":[22],"in":[23],"compact":[24],"and":[25,37,50,82],"portable":[26],"rehabilitation":[27],"devices.":[28],"The":[29,52,88,109],"electrorheologic":[30],"brake":[33,56],"concepts":[34],"introduced":[36],"previous":[38],"work":[39],"performed":[40],"with":[41,95],"a":[42,78],"non-linear":[43,60],"on":[46,118],"ERFs":[47],"is":[48,69,92,107,114],"tested":[49],"analysed.":[51],"response":[53,104],"ERF":[55],"systems":[57],"to":[58,105],"this":[59],"control,":[63],"utilizes":[65],"inverse":[67],"model,":[68],"enhanced":[70],"through":[71,116],"addition":[73],"two":[75,119],"key":[76],"components,":[77],"step":[79],"logic":[80],"function":[81],"adaptable":[84],"B-spline":[85],"algorithm.":[87],"description":[89],"each":[91],"provided":[93],"along":[94],"tests":[96],"verifying":[97],"their":[98],"effectiveness.":[99],"In":[100],"addition,":[101],"controller's":[103],"disturbances":[106],"provided.":[108],"effectiveness":[110],"validated":[115],"testing":[117],"different":[120]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}