{"id":"https://openalex.org/W4405022232","doi":"https://doi.org/10.1109/tase.2024.3499329","title":"Nonlinear Observer-Based Sliding Mode Control for Robot-Aided Bilateral Human-Compliant Rehabilitation Training of Upper Limb","display_name":"Nonlinear Observer-Based Sliding Mode Control for Robot-Aided Bilateral Human-Compliant Rehabilitation Training of Upper Limb","publication_year":2024,"publication_date":"2024-12-04","ids":{"openalex":"https://openalex.org/W4405022232","doi":"https://doi.org/10.1109/tase.2024.3499329"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2024.3499329","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2024.3499329","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-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/A5100462019","display_name":"Jianfeng Li","orcid":"https://orcid.org/0000-0002-4338-6420"},"institutions":[{"id":"https://openalex.org/I37796252","display_name":"Beijing University of Technology","ror":"https://ror.org/037b1pp87","country_code":"CN","type":"education","lineage":["https://openalex.org/I37796252"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jianfeng Li","raw_affiliation_strings":["Beijing Key Laboratory of Advanced Manufacturing Technology, College of Mechanical &#x0026; Energy Engineering, Beijing University of Technology, Beijing, P.R. China","College of Mechanical and Energy Engineering, Beijing Key Laboratory of Advanced Manufacturing Technology, Beijing University of Technology, Beijing, P.R. China"],"affiliations":[{"raw_affiliation_string":"Beijing Key Laboratory of Advanced Manufacturing Technology, College of Mechanical &#x0026; Energy Engineering, Beijing University of Technology, Beijing, P.R. China","institution_ids":["https://openalex.org/I37796252"]},{"raw_affiliation_string":"College of Mechanical and Energy Engineering, Beijing Key Laboratory of Advanced Manufacturing Technology, Beijing University of Technology, Beijing, P.R. China","institution_ids":["https://openalex.org/I37796252"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100428675","display_name":"Wenjie Liu","orcid":"https://orcid.org/0000-0002-4907-2465"},"institutions":[{"id":"https://openalex.org/I37796252","display_name":"Beijing University of Technology","ror":"https://ror.org/037b1pp87","country_code":"CN","type":"education","lineage":["https://openalex.org/I37796252"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenjie Liu","raw_affiliation_strings":["Beijing Key Laboratory of Advanced Manufacturing Technology, College of Mechanical &#x0026; Energy Engineering, Beijing University of Technology, Beijing, P.R. China","College of Mechanical and Energy Engineering, Beijing Key Laboratory of Advanced Manufacturing Technology, Beijing University of Technology, Beijing, P.R. China"],"affiliations":[{"raw_affiliation_string":"Beijing Key Laboratory of Advanced Manufacturing Technology, College of Mechanical &#x0026; Energy Engineering, Beijing University of Technology, Beijing, P.R. China","institution_ids":["https://openalex.org/I37796252"]},{"raw_affiliation_string":"College of Mechanical and Energy Engineering, Beijing Key Laboratory of Advanced Manufacturing Technology, Beijing University of Technology, Beijing, P.R. China","institution_ids":["https://openalex.org/I37796252"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008891245","display_name":"Haozhe Li","orcid":null},"institutions":[{"id":"https://openalex.org/I37796252","display_name":"Beijing University of Technology","ror":"https://ror.org/037b1pp87","country_code":"CN","type":"education","lineage":["https://openalex.org/I37796252"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haozhe Li","raw_affiliation_strings":["Beijing Key Laboratory of Advanced Manufacturing Technology, College of Mechanical &#x0026; Energy Engineering, Beijing University of Technology, Beijing, P.R. China","College of Mechanical and Energy Engineering, Beijing Key Laboratory of Advanced Manufacturing Technology, Beijing University of Technology, Beijing, P.R. China"],"affiliations":[{"raw_affiliation_string":"Beijing Key Laboratory of Advanced Manufacturing Technology, College of Mechanical &#x0026; Energy Engineering, Beijing University of Technology, Beijing, P.R. China","institution_ids":["https://openalex.org/I37796252"]},{"raw_affiliation_string":"College of Mechanical and Energy Engineering, Beijing Key Laboratory of Advanced Manufacturing Technology, Beijing University of Technology, Beijing, P.R. China","institution_ids":["https://openalex.org/I37796252"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076861802","display_name":"Ran Jiao","orcid":"https://orcid.org/0000-0003-0067-6679"},"institutions":[{"id":"https://openalex.org/I92403157","display_name":"University of Science and Technology Beijing","ror":"https://ror.org/02egmk993","country_code":"CN","type":"education","lineage":["https://openalex.org/I92403157"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ran Jiao","raw_affiliation_strings":["School of Mechanical Engineering, University of Science and Technology Beijing, Beijing, P.R. China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, University of Science and Technology Beijing, Beijing, P.R. China","institution_ids":["https://openalex.org/I92403157"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059570199","display_name":"Mingjie Dong","orcid":"https://orcid.org/0000-0002-5303-3899"},"institutions":[{"id":"https://openalex.org/I37796252","display_name":"Beijing University of Technology","ror":"https://ror.org/037b1pp87","country_code":"CN","type":"education","lineage":["https://openalex.org/I37796252"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingjie Dong","raw_affiliation_strings":["Beijing Key Laboratory of Advanced Manufacturing Technology, College of Mechanical &#x0026; Energy Engineering, Beijing University of Technology, Beijing, P.R. China","College of Mechanical and Energy Engineering, Beijing Key Laboratory of Advanced Manufacturing Technology, Beijing University of Technology, Beijing, P.R. China"],"affiliations":[{"raw_affiliation_string":"Beijing Key Laboratory of Advanced Manufacturing Technology, College of Mechanical &#x0026; Energy Engineering, Beijing University of Technology, Beijing, P.R. China","institution_ids":["https://openalex.org/I37796252"]},{"raw_affiliation_string":"College of Mechanical and Energy Engineering, Beijing Key Laboratory of Advanced Manufacturing Technology, Beijing University of Technology, Beijing, P.R. China","institution_ids":["https://openalex.org/I37796252"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5100462019"],"corresponding_institution_ids":["https://openalex.org/I37796252"],"apc_list":null,"apc_paid":null,"fwci":1.0012,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.79835042,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"22","issue":null,"first_page":"9130","last_page":"9139"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9832000136375427,"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":0.9832000136375427,"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":0.9718000292778015,"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/T10614","display_name":"Transcranial Magnetic Stimulation Studies","score":0.9653000235557556,"subfield":{"id":"https://openalex.org/subfields/2808","display_name":"Neurology"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.561763346195221},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.5592150688171387},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5553224086761475},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.5440433025360107},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4877344071865082},{"id":"https://openalex.org/keywords/rehabilitation-robotics","display_name":"Rehabilitation robotics","score":0.4630911648273468},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.45789793133735657},{"id":"https://openalex.org/keywords/rehabilitation","display_name":"Rehabilitation","score":0.4451425075531006},{"id":"https://openalex.org/keywords/upper-limb","display_name":"Upper limb","score":0.44335800409317017},{"id":"https://openalex.org/keywords/artificial-limbs","display_name":"Artificial limbs","score":0.43644237518310547},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4125622808933258},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.41128242015838623},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3350176513195038},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.29302603006362915},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.12717124819755554},{"id":"https://openalex.org/keywords/physical-therapy","display_name":"Physical therapy","score":0.10184195637702942},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09055295586585999}],"concepts":[{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.561763346195221},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.5592150688171387},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5553224086761475},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.5440433025360107},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4877344071865082},{"id":"https://openalex.org/C2775862927","wikidata":"https://www.wikidata.org/wiki/Q7309766","display_name":"Rehabilitation robotics","level":3,"score":0.4630911648273468},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45789793133735657},{"id":"https://openalex.org/C2778818304","wikidata":"https://www.wikidata.org/wiki/Q1819478","display_name":"Rehabilitation","level":2,"score":0.4451425075531006},{"id":"https://openalex.org/C2776660947","wikidata":"https://www.wikidata.org/wiki/Q841423","display_name":"Upper limb","level":2,"score":0.44335800409317017},{"id":"https://openalex.org/C2987467780","wikidata":"https://www.wikidata.org/wiki/Q181802","display_name":"Artificial limbs","level":3,"score":0.43644237518310547},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4125622808933258},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.41128242015838623},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3350176513195038},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.29302603006362915},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.12717124819755554},{"id":"https://openalex.org/C1862650","wikidata":"https://www.wikidata.org/wiki/Q186005","display_name":"Physical therapy","level":1,"score":0.10184195637702942},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09055295586585999},{"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/C2778715743","wikidata":"https://www.wikidata.org/wiki/Q181802","display_name":"Prosthesis","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2024.3499329","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2024.3499329","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Reduced inequalities","id":"https://metadata.un.org/sdg/10","score":0.4000000059604645}],"awards":[{"id":"https://openalex.org/G464804910","display_name":null,"funder_award_id":"52175001","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8866500400","display_name":null,"funder_award_id":"Q6001013202201","funder_id":"https://openalex.org/F4320323068","funder_display_name":"Beijing Postdoctoral Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320323068","display_name":"Beijing Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W2015162542","https://openalex.org/W2113585314","https://openalex.org/W2345068998","https://openalex.org/W2946009129","https://openalex.org/W2980982106","https://openalex.org/W2981900613","https://openalex.org/W2982988896","https://openalex.org/W3007944566","https://openalex.org/W3024896314","https://openalex.org/W3084210095","https://openalex.org/W3104404272","https://openalex.org/W3118421394","https://openalex.org/W3123648169","https://openalex.org/W3136521676","https://openalex.org/W4200099615","https://openalex.org/W4206958505","https://openalex.org/W4210484072","https://openalex.org/W4220773477","https://openalex.org/W4283797014","https://openalex.org/W4289517783","https://openalex.org/W4293812024","https://openalex.org/W4296423117","https://openalex.org/W4313040401","https://openalex.org/W4375956027","https://openalex.org/W4378228260","https://openalex.org/W4389067319","https://openalex.org/W4391174766","https://openalex.org/W4400004752"],"related_works":["https://openalex.org/W3192036299","https://openalex.org/W2146428417","https://openalex.org/W3176458675","https://openalex.org/W2561776955","https://openalex.org/W2138120972","https://openalex.org/W576983769","https://openalex.org/W2122087045","https://openalex.org/W1964869133","https://openalex.org/W2054830681","https://openalex.org/W2626796863"],"abstract_inverted_index":{"Robotic-assisted":[0],"rehabilitation":[1,27,33,140,149,183,207],"therapy":[2],"has":[3,230],"been":[4],"a":[5,17,23,60,108,211],"promising":[6],"way":[7],"in":[8,105,138,159,176,204,223,302],"improving":[9],"upper":[10,25],"limb":[11,26],"motor":[12],"function.":[13],"This":[14],"paper":[15],"proposes":[16],"multi-mode":[18],"training":[19,34,132,184,208],"control":[20,155,228],"method":[21,156,175,229],"for":[22,136],"bilateral":[24,131,148],"robotic":[28,150,265,316,322],"system,":[29],"with":[30,57,114,171,218,281,292],"which":[31],"human-compliant":[32],"can":[35,298],"be":[36,299],"provided.":[37],"Firstly,":[38],"an":[39],"admittance":[40,219,249],"controller":[41,112,167,216,290,297],"is":[42,63,121,157,189,221],"built":[43],"to":[44,50,65,101,173,178,186],"transform":[45],"the":[46,67,72,77,84,88,96,102,115,119,126,146,153,163,166,179,192,196,201,205,231,240,243,247,257,264,278,293],"human-robot":[47,202,313],"interaction":[48,169,203],"force":[49,79,85,270],"compliant":[51,308],"desired":[52,103,244],"trajectory.":[53],"Then,":[54],"by":[55,81,191],"integrating":[56],"super-twisting":[58],"algorithm,":[59],"nonlinear":[61,212,269],"observer":[62,120,294],"designed":[64],"estimate":[66],"lumped":[68,260],"disturbance":[69,116,261],"exerted":[70,262],"on":[71,125,168,263,268],"driving":[73],"revolute":[74],"joint,":[75],"including":[76,145],"active":[78],"applied":[80,301],"human":[82],"subject,":[83],"of":[86,98,165,181,195,242,259,304,321],"friction,":[87],"model":[89,220],"uncertainty,":[90],"et":[91],"al.":[92],"To":[93],"guarantee":[94],"that":[95],"state":[97],"position":[99],"converges":[100],"value":[104],"real":[106],"time,":[107],"high-order":[109],"sliding":[110,214,288],"mode":[111,215,289],"combined":[113,217,291],"compensation":[117],"from":[118],"proposed.":[122],"Additionally,":[123],"based":[124,267],"aforementioned":[127],"several":[128,160],"methods,":[129],"multiple":[130,182],"modes":[133],"are":[134],"constructed":[135,147,248],"patients":[137],"different":[139],"stages.":[141],"The":[142,226,296],"overall":[143],"system":[144,151,266],"and":[152,198],"proposed":[154,222],"verified":[158],"experiments,":[161],"demonstrating":[162],"advantage":[164],"compliance":[170,197,241],"respect":[172],"normal":[174],"addition":[177],"capability":[180],"modes.Note":[185],"Practitioners\u2014This":[187],"work":[188],"motivated":[190],"patients\u2019":[193],"needs":[194],"comfort":[199],"during":[200],"robot-aided":[206],"process.":[209],"Thus,":[210],"observer-based":[213],"this":[224],"paper.":[225],"developed":[227],"following":[232],"functionalities:":[233],"<xref":[234,251,272],"ref-type=\"disp-formula\"":[235,252,273],"rid=\"deqn1\"":[236],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[237,254,275],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">(1)</xref>":[238],"Ensuring":[239,277],"trajectory":[245,279],"via":[246,287],"model.":[250],"rid=\"deqn2\"":[253],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">(2)</xref>":[255],"Solving":[256],"estimation":[258],"observer.":[271],"rid=\"deqn3\"":[274],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">(3)</xref>":[276],"tracking":[280],"high":[282],"accuracy":[283],"under":[284,324],"unknown":[285,325],"disturbances":[286],"compensation.":[295],"potentially":[300],"lots":[303],"areas:":[305],"1)":[306],"Human-robot":[307],"collaboration":[309],"or":[310],"interaction,":[311],"e.g.,":[312],"cooperative":[314],"manipulation,":[315],"surgery;":[317],"2)":[318],"Precise":[319],"motion":[320],"arm":[323],"disturbance.":[326]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3}],"updated_date":"2026-03-28T08:17:26.163206","created_date":"2025-10-10T00:00:00"}
