{"id":"https://openalex.org/W3209923911","doi":"https://doi.org/10.1177/01423312211043661","title":"Fuzzy impedance-based control with fast terminal sliding mode force control loop for a series elastic actuator system","display_name":"Fuzzy impedance-based control with fast terminal sliding mode force control loop for a series elastic actuator system","publication_year":2021,"publication_date":"2021-10-22","ids":{"openalex":"https://openalex.org/W3209923911","doi":"https://doi.org/10.1177/01423312211043661","mag":"3209923911"},"language":"en","primary_location":{"id":"doi:10.1177/01423312211043661","is_oa":false,"landing_page_url":"https://doi.org/10.1177/01423312211043661","pdf_url":null,"source":{"id":"https://openalex.org/S24148485","display_name":"Transactions of the Institute of Measurement and Control","issn_l":"0142-3312","issn":["0142-3312","1477-0369"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Transactions of the Institute of Measurement and Control","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/A5019489978","display_name":"Seyed Ali Moafi","orcid":"https://orcid.org/0000-0003-0733-0371"},"institutions":[{"id":"https://openalex.org/I877176835","display_name":"University of Guilan","ror":"https://ror.org/01bdr6121","country_code":"IR","type":"education","lineage":["https://openalex.org/I877176835"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Seyed Ali Moafi","raw_affiliation_strings":["Faculty of Mechanical Engineering, University of Guilan, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical Engineering, University of Guilan, Iran","institution_ids":["https://openalex.org/I877176835"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5062981286","display_name":"Farid Najafi","orcid":"https://orcid.org/0000-0003-3083-0411"},"institutions":[{"id":"https://openalex.org/I877176835","display_name":"University of Guilan","ror":"https://ror.org/01bdr6121","country_code":"IR","type":"education","lineage":["https://openalex.org/I877176835"]}],"countries":["IR"],"is_corresponding":true,"raw_author_name":"Farid Najafi","raw_affiliation_strings":["Faculty of Mechanical Engineering, University of Guilan, Iran"],"raw_orcid":"https://orcid.org/0000-0003-3083-0411","affiliations":[{"raw_affiliation_string":"Faculty of Mechanical Engineering, University of Guilan, Iran","institution_ids":["https://openalex.org/I877176835"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5062981286"],"corresponding_institution_ids":["https://openalex.org/I877176835"],"apc_list":null,"apc_paid":null,"fwci":0.1698,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.46346985,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":"44","issue":"4","first_page":"905","last_page":"915"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9991000294685364,"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":0.9991000294685364,"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":0.9958000183105469,"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/T10114","display_name":"Balance, Gait, and Falls Prevention","score":0.9897000193595886,"subfield":{"id":"https://openalex.org/subfields/3612","display_name":"Physical Therapy, Sports Therapy and Rehabilitation"},"field":{"id":"https://openalex.org/fields/36","display_name":"Health Professions"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.899870753288269},{"id":"https://openalex.org/keywords/terminal-sliding-mode","display_name":"Terminal sliding mode","score":0.8030205965042114},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6128641963005066},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6001874208450317},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.5859556198120117},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.5701399445533752},{"id":"https://openalex.org/keywords/fuzzy-control-system","display_name":"Fuzzy control system","score":0.516374945640564},{"id":"https://openalex.org/keywords/inner-loop","display_name":"Inner loop","score":0.5080091953277588},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5041342973709106},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.49697592854499817},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.49471160769462585},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.4717065989971161},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.396334171295166},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.36500346660614014},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.34817078709602356},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.2830289602279663},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1380053162574768},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.10979902744293213},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08851441740989685},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.06055298447608948}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.899870753288269},{"id":"https://openalex.org/C2777539142","wikidata":"https://www.wikidata.org/wiki/Q7702746","display_name":"Terminal sliding mode","level":4,"score":0.8030205965042114},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6128641963005066},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6001874208450317},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.5859556198120117},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.5701399445533752},{"id":"https://openalex.org/C195975749","wikidata":"https://www.wikidata.org/wiki/Q1475705","display_name":"Fuzzy control system","level":3,"score":0.516374945640564},{"id":"https://openalex.org/C58716799","wikidata":"https://www.wikidata.org/wiki/Q6035648","display_name":"Inner loop","level":3,"score":0.5080091953277588},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5041342973709106},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.49697592854499817},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.49471160769462585},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.4717065989971161},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.396334171295166},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.36500346660614014},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.34817078709602356},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.2830289602279663},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1380053162574768},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.10979902744293213},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08851441740989685},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.06055298447608948},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/01423312211043661","is_oa":false,"landing_page_url":"https://doi.org/10.1177/01423312211043661","pdf_url":null,"source":{"id":"https://openalex.org/S24148485","display_name":"Transactions of the Institute of Measurement and Control","issn_l":"0142-3312","issn":["0142-3312","1477-0369"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Transactions of the Institute of Measurement and Control","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","score":0.800000011920929,"id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1535570778","https://openalex.org/W1825041585","https://openalex.org/W1985947439","https://openalex.org/W2062939404","https://openalex.org/W2099726059","https://openalex.org/W2108190326","https://openalex.org/W2111898076","https://openalex.org/W2126728198","https://openalex.org/W2129503982","https://openalex.org/W2166230296","https://openalex.org/W2196183686","https://openalex.org/W2293200354","https://openalex.org/W2520089176","https://openalex.org/W2540877599","https://openalex.org/W2556636338","https://openalex.org/W2566495809","https://openalex.org/W2599869952","https://openalex.org/W2738021937","https://openalex.org/W2749355440","https://openalex.org/W2750711367","https://openalex.org/W2783009944","https://openalex.org/W2789282724","https://openalex.org/W2809838735","https://openalex.org/W2889573736","https://openalex.org/W2891619644","https://openalex.org/W2902172955","https://openalex.org/W2908658762","https://openalex.org/W2944335078","https://openalex.org/W2964366628","https://openalex.org/W2981933760","https://openalex.org/W2996358409","https://openalex.org/W3182107943"],"related_works":["https://openalex.org/W2356356101","https://openalex.org/W2109651492","https://openalex.org/W2108072532","https://openalex.org/W2380965978","https://openalex.org/W2131481667","https://openalex.org/W2016095328","https://openalex.org/W2404840993","https://openalex.org/W4214925198","https://openalex.org/W3011129825","https://openalex.org/W1995636945"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,14,20,53],"robust":[4],"control":[5,11,48,56,68,116,130],"scheme":[6,49],"to":[7,28,75,100,123],"accomplish":[8],"the":[9,26,34,39,44,77,80,88,94,97,106,113,118,124,134],"interaction":[10,37],"problem":[12],"between":[13],"series":[15],"elastic":[16],"actuator":[17],"(SEA)":[18],"and":[19,31,58],"flexible":[21],"environment.":[22],"The":[23,47,83],"adaptability":[24],"of":[25,33,38,60,79,96],"controller":[27,35,92],"unknown":[29],"variations":[30],"robustness":[32],"during":[36],"system":[40,99,119],"with":[41,128],"environment":[42],"are":[43],"main":[45],"aims.":[46],"is":[50,73],"based":[51],"on":[52],"fuzzy":[54,90],"impedance":[55],"approach":[57],"consists":[59],"an":[61],"inner":[62,114],"fast":[63,107],"terminal":[64,108],"sliding":[65,109],"mode":[66,110],"force":[67,115],"loop.":[69],"An":[70],"experimental":[71,84],"setup":[72],"designed":[74],"prove":[76],"efficiency":[78],"developed":[81],"controller.":[82],"results":[85],"confirm":[86],"that":[87],"proposed":[89],"logic":[91],"guarantees":[93],"sensitivity":[95],"controlled":[98],"unpredictable":[101],"variations.":[102],"Moreover,":[103],"by":[104],"applying":[105],"algorithm":[111],"for":[112],"loop,":[117],"has":[120],"faster":[121],"convergence":[122],"reference":[125],"path":[126],"compared":[127],"similar":[129],"methods":[131],"found":[132],"in":[133],"literature.":[135]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":2}],"updated_date":"2026-05-05T06:06:40.768181","created_date":"2025-10-10T00:00:00"}
