{"id":"https://openalex.org/W2743463877","doi":"https://doi.org/10.1109/tie.2017.2733425","title":"Adaptive Patient-Cooperative Control of a Compliant Ankle Rehabilitation Robot (CARR) With Enhanced Training Safety","display_name":"Adaptive Patient-Cooperative Control of a Compliant Ankle Rehabilitation Robot (CARR) With Enhanced Training Safety","publication_year":2017,"publication_date":"2017-08-04","ids":{"openalex":"https://openalex.org/W2743463877","doi":"https://doi.org/10.1109/tie.2017.2733425","mag":"2743463877"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2017.2733425","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2017.2733425","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","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/A5100381690","display_name":"Mingming Zhang","orcid":"https://orcid.org/0000-0001-8016-1856"},"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"]},{"id":"https://openalex.org/I4402554055","display_name":"Tongji Zhejiang College","ror":"https://ror.org/02bdb7w16","country_code":null,"type":"education","lineage":["https://openalex.org/I4402554055"]}],"countries":["NZ"],"is_corresponding":false,"raw_author_name":"Mingming Zhang","raw_affiliation_strings":["Department of Mechanical Engineering, University of Auckland, Auckland, New Zealand","Tongji Zhejiang College, Jiaxing, China"],"raw_orcid":"https://orcid.org/0000-0001-8016-1856","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Auckland, Auckland, New Zealand","institution_ids":["https://openalex.org/I154130895"]},{"raw_affiliation_string":"Tongji Zhejiang College, Jiaxing, China","institution_ids":["https://openalex.org/I4402554055"]}]},{"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"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Sheng Q. Xie","raw_affiliation_strings":["School of Electronic and Electrical Engineering University of Leeds, Leeds, U.K"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electronic and Electrical Engineering University of Leeds, Leeds, U.K","institution_ids":["https://openalex.org/I130828816"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100371534","display_name":"Xiaolong Li","orcid":"https://orcid.org/0000-0001-6976-2677"},"institutions":[{"id":"https://openalex.org/I4402554055","display_name":"Tongji Zhejiang College","ror":"https://ror.org/02bdb7w16","country_code":null,"type":"education","lineage":["https://openalex.org/I4402554055"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaolong Li","raw_affiliation_strings":["Tongji Zhejiang College, Jiaxing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tongji Zhejiang College, Jiaxing, China","institution_ids":["https://openalex.org/I4402554055"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101897874","display_name":"Guoli Zhu","orcid":"https://orcid.org/0000-0002-3020-2215"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guoli Zhu","raw_affiliation_strings":["School of Mechanical Science and Engineering and Tongji Medical College, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Science and Engineering and Tongji Medical College, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088723765","display_name":"Wei Meng","orcid":"https://orcid.org/0000-0003-0209-8753"},"institutions":[{"id":"https://openalex.org/I196699116","display_name":"Wuhan University of Technology","ror":"https://ror.org/03fe7t173","country_code":"CN","type":"education","lineage":["https://openalex.org/I196699116"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Meng","raw_affiliation_strings":["School of Information Engineering, Wuhan University of Technology, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Engineering, Wuhan University of Technology, Wuhan, China","institution_ids":["https://openalex.org/I196699116"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101524574","display_name":"Xiaolin Huang","orcid":"https://orcid.org/0000-0002-1130-1242"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaolin Huang","raw_affiliation_strings":["School of Mechanical Science and Engineering and Tongji Medical College, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Science and Engineering and Tongji Medical College, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042748415","display_name":"Allan J. Veale","orcid":"https://orcid.org/0000-0001-6397-9146"},"institutions":[{"id":"https://openalex.org/I196699116","display_name":"Wuhan University of Technology","ror":"https://ror.org/03fe7t173","country_code":"CN","type":"education","lineage":["https://openalex.org/I196699116"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Allan J. Veale","raw_affiliation_strings":["School of Information Engineering, Wuhan University of Technology, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Engineering, Wuhan University of Technology, Wuhan, China","institution_ids":["https://openalex.org/I196699116"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":6.3003,"has_fulltext":false,"cited_by_count":109,"citation_normalized_percentile":{"value":0.97272089,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"65","issue":"2","first_page":"1398","last_page":"1407"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9977999925613403,"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":0.9958999752998352,"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/control-theory","display_name":"Control theory (sociology)","score":0.7034481763839722},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6905601024627686},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6210100054740906},{"id":"https://openalex.org/keywords/admittance","display_name":"Admittance","score":0.600296139717102},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5842452049255371},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.44078025221824646},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.43618810176849365},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3955621123313904},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.37950998544692993},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22733229398727417},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.20270290970802307},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.07959496974945068},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.072133868932724}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7034481763839722},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6905601024627686},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6210100054740906},{"id":"https://openalex.org/C108811297","wikidata":"https://www.wikidata.org/wiki/Q214518","display_name":"Admittance","level":3,"score":0.600296139717102},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5842452049255371},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.44078025221824646},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.43618810176849365},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3955621123313904},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.37950998544692993},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22733229398727417},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.20270290970802307},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.07959496974945068},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.072133868932724},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"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":2,"locations":[{"id":"doi:10.1109/tie.2017.2733425","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2017.2733425","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","raw_type":"journal-article"},{"id":"pmh:oai:eprints.whiterose.ac.uk:124917","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"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.5299999713897705}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320801","display_name":"University of Auckland","ror":"https://ror.org/03b94tp07"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W143680861","https://openalex.org/W1541103563","https://openalex.org/W1576669605","https://openalex.org/W1977116014","https://openalex.org/W1984401712","https://openalex.org/W1987398044","https://openalex.org/W2025287636","https://openalex.org/W2025939589","https://openalex.org/W2036854785","https://openalex.org/W2062691475","https://openalex.org/W2065927905","https://openalex.org/W2082975798","https://openalex.org/W2086541014","https://openalex.org/W2089421806","https://openalex.org/W2092646159","https://openalex.org/W2092912577","https://openalex.org/W2101892505","https://openalex.org/W2102000567","https://openalex.org/W2104491220","https://openalex.org/W2104992636","https://openalex.org/W2113052976","https://openalex.org/W2119200271","https://openalex.org/W2124249874","https://openalex.org/W2125818796","https://openalex.org/W2132773469","https://openalex.org/W2144930761","https://openalex.org/W2153918512","https://openalex.org/W2160922433","https://openalex.org/W2163208146","https://openalex.org/W2303271325","https://openalex.org/W2343277025"],"related_works":["https://openalex.org/W2200472972","https://openalex.org/W2031643172","https://openalex.org/W2047335472","https://openalex.org/W2903025760","https://openalex.org/W4289147272","https://openalex.org/W2018658498","https://openalex.org/W3205034227","https://openalex.org/W1594265855","https://openalex.org/W2740013582","https://openalex.org/W2000675896"],"abstract_inverted_index":{"This":[0,19],"paper":[1],"proposes":[2],"a":[3,28,60,68,117,121,126,131,137,141,156,179],"new":[4,174],"adaptive":[5],"patient-cooperative":[6,175],"control":[7,20,56,107,176,183],"strategy":[8,21,108,177],"for":[9,185],"improving":[10],"the":[11,45,80,90,94,105,110,170],"effectiveness":[12],"and":[13,25,67,135,181],"safety":[14,92],"of":[15,53,59,93,172],"robot-assisted":[16],"ankle":[17,30,86],"rehabilitation.":[18],"has":[22,49],"been":[23],"developed":[24],"implemented":[26,63],"on":[27,84,109],"compliant":[29],"rehabilitation":[31,186],"robot":[32],"(CARR).":[33],"The":[34,55,75],"CARR":[35],"is":[36],"actuated":[37],"by":[38],"four":[39],"Festo":[40],"Fluidic":[41],"muscles":[42],"located":[43],"to":[44,103],"calf":[46],"in":[47,64,72],"parallel,":[48],"three":[50],"rotational":[51],"degrees":[52],"freedom.":[54],"scheme":[57],"consists":[58],"position":[61,123],"controller":[62,71,77],"joint":[65],"space":[66],"high-level":[69],"admittance":[70,76,133,143],"task":[73],"space.":[74],"adaptively":[78],"modifies":[79],"predefined":[81],"trajectory":[82,148],"based":[83],"real-time":[85],"measurement,":[87],"which":[88],"enhances":[89],"training":[91,113],"robot.":[95],"Experiments":[96],"were":[97],"carried":[98],"out":[99],"using":[100,120,130,140],"different":[101],"modes":[102,114],"validate":[104],"proposed":[106],"CARR.":[111],"Three":[112],"include:":[115],"1)":[116],"passive":[118],"mode":[119,129,139],"joint-space":[122],"controller,":[124,134],"2)":[125],"patient-robot":[127],"cooperative":[128,138],"fixed-parameter":[132],"3)":[136],"variable-parameter":[142],"controller.":[144],"Results":[145],"demonstrate":[146],"satisfactory":[147],"tracking":[149],"accuracy,":[150],"even":[151],"when":[152],"externally":[153],"disturbed,":[154],"with":[155],"maximum":[157],"normalized":[158],"root":[159],"mean":[160],"square":[161],"deviation":[162],"less":[163],"than":[164],"5.4%.":[165],"These":[166],"experimental":[167],"findings":[168],"suggest":[169],"potential":[171],"this":[173],"as":[178],"safe":[180],"engaging":[182],"solution":[184],"robots.":[187]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":13},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":15},{"year":2021,"cited_by_count":16},{"year":2020,"cited_by_count":19},{"year":2019,"cited_by_count":21},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}