{"id":"https://openalex.org/W3091062559","doi":"https://doi.org/10.1109/tbme.2020.3027823","title":"Performance-Based Hybrid Control of a Cable-Driven Upper-Limb Rehabilitation Robot","display_name":"Performance-Based Hybrid Control of a Cable-Driven Upper-Limb Rehabilitation Robot","publication_year":2020,"publication_date":"2020-09-30","ids":{"openalex":"https://openalex.org/W3091062559","doi":"https://doi.org/10.1109/tbme.2020.3027823","mag":"3091062559","pmid":"https://pubmed.ncbi.nlm.nih.gov/32997619"},"language":"en","primary_location":{"id":"doi:10.1109/tbme.2020.3027823","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tbme.2020.3027823","pdf_url":null,"source":{"id":"https://openalex.org/S5240358","display_name":"IEEE Transactions on Biomedical Engineering","issn_l":"0018-9294","issn":["0018-9294","1558-2531"],"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 Biomedical Engineering","raw_type":"journal-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/A5101802262","display_name":"Xianming Li","orcid":"https://orcid.org/0000-0002-9303-9769"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xianming Li","raw_affiliation_strings":["Key Laboratory of Sensing Technology and Biomedical Instrument of Guangdong Province, School of Biomedical Engineering, Sun Yat-sen University","Shenzhen Research Institute of Sun Yat-sen University"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Sensing Technology and Biomedical Instrument of Guangdong Province, School of Biomedical Engineering, Sun Yat-sen University","institution_ids":["https://openalex.org/I157773358"]},{"raw_affiliation_string":"Shenzhen Research Institute of Sun Yat-sen University","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065701207","display_name":"Qianqian Yang","orcid":"https://orcid.org/0000-0002-9311-444X"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qianqian Yang","raw_affiliation_strings":["Key Laboratory of Sensing Technology and Biomedical Instrument of Guangdong Province, School of Biomedical Engineering, Sun Yat-sen University","Shenzhen Research Institute of Sun Yat-sen University"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Sensing Technology and Biomedical Instrument of Guangdong Province, School of Biomedical Engineering, Sun Yat-sen University","institution_ids":["https://openalex.org/I157773358"]},{"raw_affiliation_string":"Shenzhen Research Institute of Sun Yat-sen University","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5046786528","display_name":"Rong Song","orcid":"https://orcid.org/0000-0003-3662-116X"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rong Song","raw_affiliation_strings":["Key Laboratory of Sensing Technology and Biomedical Instrument of Guangdong Province School of Biomedical Engineering, Sun Yat-sen University, Guangzhou, China","Shenzhen Research Institute of Sun Yat-sen University, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Sensing Technology and Biomedical Instrument of Guangdong Province School of Biomedical Engineering, Sun Yat-sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]},{"raw_affiliation_string":"Shenzhen Research Institute of Sun Yat-sen University, Shenzhen, China","institution_ids":["https://openalex.org/I157773358"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5101802262"],"corresponding_institution_ids":["https://openalex.org/I157773358"],"apc_list":null,"apc_paid":null,"fwci":3.1051,"has_fulltext":false,"cited_by_count":56,"citation_normalized_percentile":{"value":0.9270786,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"68","issue":"4","first_page":"1351","last_page":"1359"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9998000264167786,"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":0.9998000264167786,"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/T10925","display_name":"Spinal Cord Injury Research","score":0.9929999709129333,"subfield":{"id":"https://openalex.org/subfields/2734","display_name":"Pathology and Forensic Medicine"},"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":0.9918000102043152,"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/controller","display_name":"Controller (irrigation)","score":0.6462531089782715},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6342782974243164},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5550739765167236},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.5502047538757324},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.4693043529987335},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4265499711036682},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.4172074794769287},{"id":"https://openalex.org/keywords/rehabilitation","display_name":"Rehabilitation","score":0.4101475179195404},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.408441960811615},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.34468960762023926},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.3381170630455017},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3079887926578522},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1309053599834442},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.1110144555568695},{"id":"https://openalex.org/keywords/physical-therapy","display_name":"Physical therapy","score":0.10764649510383606},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.09261739253997803}],"concepts":[{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6462531089782715},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6342782974243164},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5550739765167236},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.5502047538757324},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.4693043529987335},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4265499711036682},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.4172074794769287},{"id":"https://openalex.org/C2778818304","wikidata":"https://www.wikidata.org/wiki/Q1819478","display_name":"Rehabilitation","level":2,"score":0.4101475179195404},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.408441960811615},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.34468960762023926},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.3381170630455017},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3079887926578522},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1309053599834442},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.1110144555568695},{"id":"https://openalex.org/C1862650","wikidata":"https://www.wikidata.org/wiki/Q186005","display_name":"Physical therapy","level":1,"score":0.10764649510383606},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.09261739253997803},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D000071939","descriptor_name":"Stroke Rehabilitation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000071939","descriptor_name":"Stroke Rehabilitation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000071939","descriptor_name":"Stroke Rehabilitation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"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":"D009068","descriptor_name":"Movement","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009068","descriptor_name":"Movement","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009068","descriptor_name":"Movement","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D017143","descriptor_name":"Fuzzy Logic","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D017143","descriptor_name":"Fuzzy Logic","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D017143","descriptor_name":"Fuzzy Logic","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D034941","descriptor_name":"Upper Extremity","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D034941","descriptor_name":"Upper Extremity","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D034941","descriptor_name":"Upper Extremity","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false}],"locations_count":2,"locations":[{"id":"doi:10.1109/tbme.2020.3027823","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tbme.2020.3027823","pdf_url":null,"source":{"id":"https://openalex.org/S5240358","display_name":"IEEE Transactions on Biomedical Engineering","issn_l":"0018-9294","issn":["0018-9294","1558-2531"],"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 Biomedical Engineering","raw_type":"journal-article"},{"id":"pmid:32997619","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/32997619","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 transactions on bio-medical engineering","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":51,"referenced_works":["https://openalex.org/W1099687614","https://openalex.org/W1576320723","https://openalex.org/W1595283758","https://openalex.org/W1963802062","https://openalex.org/W1967030176","https://openalex.org/W1972239908","https://openalex.org/W1979343663","https://openalex.org/W2016877992","https://openalex.org/W2054326469","https://openalex.org/W2070342389","https://openalex.org/W2087355026","https://openalex.org/W2102000567","https://openalex.org/W2110200899","https://openalex.org/W2111398566","https://openalex.org/W2111455515","https://openalex.org/W2119985669","https://openalex.org/W2120557068","https://openalex.org/W2125213782","https://openalex.org/W2126663592","https://openalex.org/W2135838445","https://openalex.org/W2140036652","https://openalex.org/W2140120441","https://openalex.org/W2140280613","https://openalex.org/W2145622176","https://openalex.org/W2147582248","https://openalex.org/W2153029400","https://openalex.org/W2158050076","https://openalex.org/W2160309700","https://openalex.org/W2163208146","https://openalex.org/W2167880628","https://openalex.org/W2170299887","https://openalex.org/W2171882419","https://openalex.org/W2275788073","https://openalex.org/W2295441679","https://openalex.org/W2343472016","https://openalex.org/W2503855101","https://openalex.org/W2533599559","https://openalex.org/W2658102606","https://openalex.org/W2742744172","https://openalex.org/W2769294089","https://openalex.org/W2773201695","https://openalex.org/W2796298586","https://openalex.org/W2921023696","https://openalex.org/W2945821302","https://openalex.org/W2963263919","https://openalex.org/W2975572194","https://openalex.org/W3035399822","https://openalex.org/W4285719527","https://openalex.org/W6634574873","https://openalex.org/W6682308305","https://openalex.org/W6694616853"],"related_works":["https://openalex.org/W585100505","https://openalex.org/W2065866188","https://openalex.org/W2468580946","https://openalex.org/W2064410155","https://openalex.org/W1993699589","https://openalex.org/W2331071954","https://openalex.org/W2360512056","https://openalex.org/W4386004832","https://openalex.org/W2317038355","https://openalex.org/W2508382938"],"abstract_inverted_index":{"Patients":[0],"after":[1],"stroke":[2],"may":[3],"have":[4],"different":[5,133],"rehabilitation":[6,28],"needs":[7],"due":[8],"to":[9,58,80,98,102,114,166,192],"various":[10],"levels":[11],"of":[12,89,126,183],"disability.":[13],"To":[14,122],"satisfy":[15],"such":[16],"needs,":[17],"a":[18,25,55,87,167],"performance-based":[19],"hybrid":[20],"control":[21],"is":[22,54,75,96,111],"proposed":[23],"for":[24,72],"cable-driven":[26],"upper-limb":[27],"robot":[29,174],"(CDULRR).":[30],"The":[31,141],"controller":[32,147,191],"includes":[33],"three":[34],"working":[35,150],"modes,":[36],"i.e.,":[37],"resistance":[38,63],"mode,":[39,44,64,86,107],"assistance":[40,85,101,177],"mode":[41],"and":[42,118,186],"restriction":[43,106],"which":[45,74],"are":[46],"switched":[47],"by":[48,93,137,152],"the":[49,65,77,81,108,116,120,124,127,129,146,153,162,170,173,179,190],"tracking":[50],"error":[51],"since":[52],"it":[53],"common":[56],"index":[57],"represent":[59],"motor":[60,155,171],"performance.":[61,156],"In":[62,84,105],"proper":[66],"damping":[67,109,184],"force":[68,110,185],"would":[69],"be":[70],"provided":[71,175],"subjects,":[73],"in":[76,169,178],"opposite":[78],"direction":[79],"actual":[82],"velocity.":[83],"method":[88],"adjusting":[90],"stiffness":[91,187],"coefficient":[92,188],"fuzzy":[94],"logic":[95],"adopted":[97],"provide":[99],"suitable":[100],"help":[103],"subjects.":[104,140],"applied":[112],"again":[113],"limit":[115],"movement":[117],"ensure":[119],"safety.":[121],"verify":[123],"effectiveness":[125],"controller,":[128],"task-oriented":[130],"experiments":[131,142],"with":[132],"disturbance":[134,164],"were":[135],"conducted":[136],"ten":[138],"healthy":[139],"results":[143],"demonstrated":[144],"that":[145],"can":[148],"adjust":[149],"modes":[151],"subjects'":[154],"It":[157],"was":[158],"found":[159],"that,":[160],"as":[161],"increasing":[163],"led":[165],"decrease":[168],"performance,":[172],"more":[176,194],"trainings.":[180],"Adaptive":[181],"adjustment":[182],"allowed":[189],"induce":[193],"active":[195],"effort.":[196]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":19},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":12},{"year":2021,"cited_by_count":7}],"updated_date":"2026-04-02T15:55:50.835912","created_date":"2025-10-10T00:00:00"}