{"id":"https://openalex.org/W2583278904","doi":"https://doi.org/10.1109/tcst.2017.2654424","title":"MIMO Sliding Mode Controller for Gait Exoskeleton Driven by Pneumatic Muscles","display_name":"MIMO Sliding Mode Controller for Gait Exoskeleton Driven by Pneumatic Muscles","publication_year":2017,"publication_date":"2017-01-31","ids":{"openalex":"https://openalex.org/W2583278904","doi":"https://doi.org/10.1109/tcst.2017.2654424","mag":"2583278904"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2017.2654424","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2017.2654424","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"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 Control Systems Technology","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://figshare.com/articles/journal_contribution/MIMO_Sliding_Mode_Controller_for_Gait_Exoskeleton_Driven_by_Pneumatic_Muscles/27512826","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5004999923","display_name":"Jinghui Cao","orcid":"https://orcid.org/0000-0002-7266-8822"},"institutions":[{"id":"https://openalex.org/I154130895","display_name":"University of Auckland","ror":"https://ror.org/03b94tp07","country_code":"NZ","type":"education","lineage":["https://openalex.org/I154130895"]}],"countries":["NZ"],"is_corresponding":false,"raw_author_name":"Jinghui Cao","raw_affiliation_strings":["Department of Mechanical Engineering, The University of Auckland, Auckland, New Zealand"],"raw_orcid":"https://orcid.org/0000-0002-7266-8822","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The University of Auckland, Auckland, New Zealand","institution_ids":["https://openalex.org/I154130895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035866142","display_name":"Sheng Quan Xie","orcid":"https://orcid.org/0000-0003-2641-2620"},"institutions":[{"id":"https://openalex.org/I130828816","display_name":"University of Leeds","ror":"https://ror.org/024mrxd33","country_code":"GB","type":"education","lineage":["https://openalex.org/I130828816"]},{"id":"https://openalex.org/I154130895","display_name":"University of Auckland","ror":"https://ror.org/03b94tp07","country_code":"NZ","type":"education","lineage":["https://openalex.org/I154130895"]}],"countries":["GB","NZ"],"is_corresponding":false,"raw_author_name":"Sheng Quan Xie","raw_affiliation_strings":["Department of Mechanical Engineering, The University of Auckland, Auckland, New Zealand","School of Electric and Electronic Engineering, School of Mechanical Engineering, Faculty of Engineering, University of Leeds, Leeds, U.K"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The University of Auckland, Auckland, New Zealand","institution_ids":["https://openalex.org/I154130895"]},{"raw_affiliation_string":"School of Electric and Electronic Engineering, School of Mechanical Engineering, Faculty of Engineering, University of Leeds, Leeds, U.K","institution_ids":["https://openalex.org/I130828816"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064600650","display_name":"Raj Das","orcid":"https://orcid.org/0000-0001-9977-6201"},"institutions":[{"id":"https://openalex.org/I82951845","display_name":"RMIT University","ror":"https://ror.org/04ttjf776","country_code":"AU","type":"education","lineage":["https://openalex.org/I82951845"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Raj Das","raw_affiliation_strings":["Sir Lawrence Wackett Aerospace Centre, School of Engineering, RMIT University, Melbourne, Victoria, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sir Lawrence Wackett Aerospace Centre, School of Engineering, RMIT University, Melbourne, Victoria, Australia","institution_ids":["https://openalex.org/I82951845"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.7132,"has_fulltext":false,"cited_by_count":91,"citation_normalized_percentile":{"value":0.95513022,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"26","issue":"1","first_page":"274","last_page":"281"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9937000274658203,"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":0.9930999875068665,"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":0.8628332614898682},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.626423716545105},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6127589344978333},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5801843404769897},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5602796673774719},{"id":"https://openalex.org/keywords/rehabilitation","display_name":"Rehabilitation","score":0.5518256425857544},{"id":"https://openalex.org/keywords/powered-exoskeleton","display_name":"Powered exoskeleton","score":0.5164359211921692},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.5136027336120605},{"id":"https://openalex.org/keywords/pneumatic-artificial-muscles","display_name":"Pneumatic artificial muscles","score":0.512531042098999},{"id":"https://openalex.org/keywords/pneumatic-actuator","display_name":"Pneumatic actuator","score":0.46111392974853516},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.441556841135025},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4358806610107422},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4213176667690277},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.41783347725868225},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.4032551646232605},{"id":"https://openalex.org/keywords/artificial-muscle","display_name":"Artificial muscle","score":0.30325382947921753},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.29345154762268066},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2710023522377014},{"id":"https://openalex.org/keywords/physical-therapy","display_name":"Physical therapy","score":0.1683661937713623},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13745111227035522},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.11169907450675964}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.8628332614898682},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.626423716545105},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6127589344978333},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5801843404769897},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5602796673774719},{"id":"https://openalex.org/C2778818304","wikidata":"https://www.wikidata.org/wiki/Q1819478","display_name":"Rehabilitation","level":2,"score":0.5518256425857544},{"id":"https://openalex.org/C45391945","wikidata":"https://www.wikidata.org/wiki/Q938523","display_name":"Powered exoskeleton","level":3,"score":0.5164359211921692},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5136027336120605},{"id":"https://openalex.org/C2778313331","wikidata":"https://www.wikidata.org/wiki/Q2317989","display_name":"Pneumatic artificial muscles","level":4,"score":0.512531042098999},{"id":"https://openalex.org/C170401851","wikidata":"https://www.wikidata.org/wiki/Q1965061","display_name":"Pneumatic actuator","level":3,"score":0.46111392974853516},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.441556841135025},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4358806610107422},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4213176667690277},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.41783347725868225},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.4032551646232605},{"id":"https://openalex.org/C196628372","wikidata":"https://www.wikidata.org/wiki/Q4801090","display_name":"Artificial muscle","level":3,"score":0.30325382947921753},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.29345154762268066},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2710023522377014},{"id":"https://openalex.org/C1862650","wikidata":"https://www.wikidata.org/wiki/Q186005","display_name":"Physical therapy","level":1,"score":0.1683661937713623},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13745111227035522},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.11169907450675964},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/tcst.2017.2654424","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2017.2654424","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"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 Control Systems Technology","raw_type":"journal-article"},{"id":"pmh:oai:eprints.whiterose.ac.uk:114394","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306400854","display_name":"White Rose Research Online (University of Leeds, The University of Sheffield, University of York)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2800616092","host_organization_name":"White Rose University Consortium","host_organization_lineage":["https://openalex.org/I2800616092"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"Article"},{"id":"pmh:oai:alma.61RMIT_INST:11248044430001341","is_oa":false,"landing_page_url":"https://doi.org/10.1109/TCST.2017.2654424","pdf_url":null,"source":{"id":"https://openalex.org/S4306402074","display_name":"RMIT Research Repository (RMIT University Library)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I82951845","host_organization_name":"RMIT University","host_organization_lineage":["https://openalex.org/I82951845"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"pmh:oai:figshare.com:article/27512826","is_oa":true,"landing_page_url":"https://figshare.com/articles/journal_contribution/MIMO_Sliding_Mode_Controller_for_Gait_Exoskeleton_Driven_by_Pneumatic_Muscles/27512826","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:figshare.com:article/27512826","is_oa":true,"landing_page_url":"https://figshare.com/articles/journal_contribution/MIMO_Sliding_Mode_Controller_for_Gait_Exoskeleton_Driven_by_Pneumatic_Muscles/27512826","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/3","display_name":"Good health and well-being","score":0.5600000023841858}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320801","display_name":"University of Auckland","ror":"https://ror.org/03b94tp07"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W56462961","https://openalex.org/W625443645","https://openalex.org/W1487127700","https://openalex.org/W1972653385","https://openalex.org/W2000795873","https://openalex.org/W2012222508","https://openalex.org/W2038095121","https://openalex.org/W2066854397","https://openalex.org/W2070122598","https://openalex.org/W2090480261","https://openalex.org/W2090854043","https://openalex.org/W2099726059","https://openalex.org/W2108303641","https://openalex.org/W2110496175","https://openalex.org/W2111453604","https://openalex.org/W2114196201","https://openalex.org/W2115435632","https://openalex.org/W2130934472","https://openalex.org/W2132660967","https://openalex.org/W2134668622","https://openalex.org/W2137399128","https://openalex.org/W2142097120","https://openalex.org/W2147582248","https://openalex.org/W2156378823","https://openalex.org/W2158636510","https://openalex.org/W2170274344","https://openalex.org/W2400328397"],"related_works":["https://openalex.org/W2742397931","https://openalex.org/W2012595107","https://openalex.org/W211888945","https://openalex.org/W2384571910","https://openalex.org/W4253527034","https://openalex.org/W2120869143","https://openalex.org/W2161150970","https://openalex.org/W2313071244","https://openalex.org/W2711900214","https://openalex.org/W824130432"],"abstract_inverted_index":{"In":[0],"the":[1,18,29,56,59,76,82,107],"past":[2],"decade,":[3],"pneumatic":[4],"muscle":[5],"(PM)":[6],"actuated":[7],"rehabilitation":[8,60,89],"robotic":[9],"devices":[10],"have":[11],"been":[12],"widely":[13],"researched,":[14],"mainly":[15],"due":[16],"to":[17,25,36,47,73],"actuators'":[19],"intrinsic":[20],"compliance":[21,43,80],"and":[22,34,42,52,79],"high":[23],"power":[24],"weight":[26],"ratio.":[27],"However,":[28],"PMs":[30],"are":[31,45],"highly":[32],"nonlinear":[33],"subject":[35],"hysteresis":[37],"behavior.":[38],"Hence,":[39],"robust":[40],"trajectory":[41,78],"control":[44,75],"important":[46],"realize":[48],"different":[49],"training":[50,112],"strategies":[51,113],"modes":[53],"for":[54,106],"improving":[55],"effectiveness":[57],"of":[58,81,86,98,110],"robots.":[61],"This":[62],"paper":[63],"presents":[64],"a":[65,87,103],"multi-input-multioutput":[66],"sliding":[67],"mode":[68],"controller,":[69,100],"which":[70,101],"is":[71],"developed":[72],"simultaneously":[74],"angular":[77],"knee":[83],"joint":[84],"mechanism":[85],"gait":[88,115],"exoskeleton.":[90],"Experimental":[91],"results":[92],"indicate":[93],"good":[94,104],"multivariable":[95],"tracking":[96],"performance":[97],"this":[99],"provides":[102],"foundation":[105],"further":[108],"development":[109],"assist-as-needed":[111],"in":[114],"rehabilitation.":[116]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":15},{"year":2021,"cited_by_count":16},{"year":2020,"cited_by_count":12},{"year":2019,"cited_by_count":16},{"year":2018,"cited_by_count":7},{"year":2017,"cited_by_count":2}],"updated_date":"2026-07-02T09:51:11.867554","created_date":"2025-10-10T00:00:00"}