{"id":"https://openalex.org/W2743378341","doi":"https://doi.org/10.1109/urai.2017.7992759","title":"Optimal impedance control for an elbow rehabilitation robot","display_name":"Optimal impedance control for an elbow rehabilitation robot","publication_year":2017,"publication_date":"2017-06-01","ids":{"openalex":"https://openalex.org/W2743378341","doi":"https://doi.org/10.1109/urai.2017.7992759","mag":"2743378341"},"language":"en","primary_location":{"id":"doi:10.1109/urai.2017.7992759","is_oa":false,"landing_page_url":"https://doi.org/10.1109/urai.2017.7992759","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","raw_type":"proceedings-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/A5100649061","display_name":"Runze Wang","orcid":"https://orcid.org/0000-0002-0542-3980"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Runze Wang","raw_affiliation_strings":["School of Mechanical Engineering, Xian Jiaotong University, Xian, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Xian Jiaotong University, Xian, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100393289","display_name":"Jinhua Zhang","orcid":"https://orcid.org/0000-0002-5629-0348"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jinhua Zhang","raw_affiliation_strings":["School of Mechanical Engineering, Xian Jiaotong University, Xian, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Xian Jiaotong University, Xian, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102203112","display_name":"Zhihui Qiu","orcid":null},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhihui Qiu","raw_affiliation_strings":["Xi'an Jiaotong University, Xi'an, Shaanxi, CN"],"affiliations":[{"raw_affiliation_string":"Xi'an Jiaotong University, Xi'an, Shaanxi, CN","institution_ids":["https://openalex.org/I87445476"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100649061"],"corresponding_institution_ids":["https://openalex.org/I87445476"],"apc_list":null,"apc_paid":null,"fwci":0.2147,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.58705178,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"107","issue":null,"first_page":"388","last_page":"392"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9995999932289124,"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":0.9995999932289124,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9957000017166138,"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":0.9940999746322632,"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/impedance-control","display_name":"Impedance control","score":0.8044646978378296},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.6130385994911194},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5754239559173584},{"id":"https://openalex.org/keywords/rehabilitation","display_name":"Rehabilitation","score":0.5639561414718628},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.5576484203338623},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.526045560836792},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4836605489253998},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4331642985343933},{"id":"https://openalex.org/keywords/elbow","display_name":"Elbow","score":0.4310153126716614},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.42044854164123535},{"id":"https://openalex.org/keywords/constant","display_name":"Constant (computer programming)","score":0.4142463803291321},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.40070515871047974},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32282406091690063},{"id":"https://openalex.org/keywords/physical-therapy","display_name":"Physical therapy","score":0.20002391934394836},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14973583817481995},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.1421109139919281},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.12961557507514954},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12360602617263794},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.0910634994506836}],"concepts":[{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.8044646978378296},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.6130385994911194},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5754239559173584},{"id":"https://openalex.org/C2778818304","wikidata":"https://www.wikidata.org/wiki/Q1819478","display_name":"Rehabilitation","level":2,"score":0.5639561414718628},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.5576484203338623},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.526045560836792},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4836605489253998},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4331642985343933},{"id":"https://openalex.org/C2781184374","wikidata":"https://www.wikidata.org/wiki/Q42586","display_name":"Elbow","level":2,"score":0.4310153126716614},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.42044854164123535},{"id":"https://openalex.org/C2777027219","wikidata":"https://www.wikidata.org/wiki/Q1284190","display_name":"Constant (computer programming)","level":2,"score":0.4142463803291321},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.40070515871047974},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32282406091690063},{"id":"https://openalex.org/C1862650","wikidata":"https://www.wikidata.org/wiki/Q186005","display_name":"Physical therapy","level":1,"score":0.20002391934394836},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14973583817481995},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.1421109139919281},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.12961557507514954},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12360602617263794},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.0910634994506836},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"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/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/urai.2017.7992759","is_oa":false,"landing_page_url":"https://doi.org/10.1109/urai.2017.7992759","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1978023077","https://openalex.org/W2016958754","https://openalex.org/W2056277131","https://openalex.org/W2073246877","https://openalex.org/W2075635118","https://openalex.org/W2079917322","https://openalex.org/W2081546500","https://openalex.org/W2112433864","https://openalex.org/W2133322641","https://openalex.org/W2140036652","https://openalex.org/W2153070981","https://openalex.org/W2492237406","https://openalex.org/W2535043954","https://openalex.org/W2794602290","https://openalex.org/W2990651410","https://openalex.org/W4205467692","https://openalex.org/W6644756748","https://openalex.org/W6770031054"],"related_works":["https://openalex.org/W2609289561","https://openalex.org/W2364463730","https://openalex.org/W2299750892","https://openalex.org/W1548357495","https://openalex.org/W2314048082","https://openalex.org/W1968487248","https://openalex.org/W2097006611","https://openalex.org/W4295916778","https://openalex.org/W2112995122","https://openalex.org/W2165087119"],"abstract_inverted_index":{"This":[0],"paper":[1],"deals":[2],"with":[3],"our":[4],"efforts":[5],"to":[6,102,134,153],"design":[7],"impedance":[8,18,22,34,78,116],"controllers":[9],"for":[10,51],"safe":[11],"and":[12,20,43,63,70,86,91,107,147],"compliant":[13],"elbow":[14],"rehabilitation":[15,105,125,150],"robot.":[16,72],"Constant":[17],"control":[19,23,29,79,117,138],"optimal":[21,77,115,137],"algorithms":[24],"were":[25],"evaluated,":[26],"the":[27,32,37,44,48,52,56,60,64,68,71,76,83,88,96,103,136,143,149],"first":[28],"algorithm":[30,118,139],"adopted":[31],"constant":[33],"parameters":[35],"meeting":[36],"requirement":[38],"of":[39,54,95,130],"keeping":[40],"stable":[41],"system,":[42],"second":[45],"one":[46],"adjusted":[47],"stiffness":[49],"parameter":[50],"purpose":[53],"minimizing":[55],"cost":[57,84],"function":[58,85],"connecting":[59],"position":[61],"deviation":[62],"interaction":[65],"force":[66],"between":[67],"patient":[69],"We":[73],"find":[74],"that":[75,114,140],"can":[80,141],"effectively":[81],"reduce":[82],"guarantee":[87],"patient's":[89,104,144],"safety":[90],"comfort.":[92],"The":[93,110,127],"level":[94],"robot":[97],"assist":[98],"is":[99,133],"adapted":[100],"according":[101],"state":[106],"motion":[108],"participation.":[109],"simulation":[111],"results":[112],"indicate":[113],"may":[119],"have":[120],"certain":[121],"clinical":[122],"benefits":[123],"in":[124],"treatment.":[126],"long-term":[128],"goal":[129],"this":[131],"study":[132],"establish":[135],"enhance":[142],"muscle":[145],"participation":[146],"maximize":[148],"outcome":[151],"compared":[152],"standard":[154],"training.":[155]},"counts_by_year":[{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}