{"id":"https://openalex.org/W4295854600","doi":"https://doi.org/10.23919/acc53348.2022.9867427","title":"Control Barrier Functions for Safe Teleoperation of a Functional Electric Stimulation Enabled Rehabilitation System","display_name":"Control Barrier Functions for Safe Teleoperation of a Functional Electric Stimulation Enabled Rehabilitation System","publication_year":2022,"publication_date":"2022-06-08","ids":{"openalex":"https://openalex.org/W4295854600","doi":"https://doi.org/10.23919/acc53348.2022.9867427"},"language":"en","primary_location":{"id":"doi:10.23919/acc53348.2022.9867427","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc53348.2022.9867427","pdf_url":null,"source":{"id":"https://openalex.org/S4363607732","display_name":"2022 American Control Conference (ACC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 American Control Conference (ACC)","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/A5004988388","display_name":"Kimberly J. Stubbs","orcid":"https://orcid.org/0000-0001-5194-7497"},"institutions":[{"id":"https://openalex.org/I33213144","display_name":"University of Florida","ror":"https://ror.org/02y3ad647","country_code":"US","type":"education","lineage":["https://openalex.org/I33213144"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Kimberly J. Stubbs","raw_affiliation_strings":["University of Florida,Department of Mechanical and Aerospace Engineering,Gainesville,FL,USA,32611-6250"],"affiliations":[{"raw_affiliation_string":"University of Florida,Department of Mechanical and Aerospace Engineering,Gainesville,FL,USA,32611-6250","institution_ids":["https://openalex.org/I33213144"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054745346","display_name":"Axton Isaly","orcid":"https://orcid.org/0000-0001-7241-6433"},"institutions":[{"id":"https://openalex.org/I33213144","display_name":"University of Florida","ror":"https://ror.org/02y3ad647","country_code":"US","type":"education","lineage":["https://openalex.org/I33213144"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Axton Isaly","raw_affiliation_strings":["University of Florida,Department of Mechanical and Aerospace Engineering,Gainesville,FL,USA,32611-6250"],"affiliations":[{"raw_affiliation_string":"University of Florida,Department of Mechanical and Aerospace Engineering,Gainesville,FL,USA,32611-6250","institution_ids":["https://openalex.org/I33213144"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032651215","display_name":"Warren E. Dixon","orcid":"https://orcid.org/0000-0002-5091-181X"},"institutions":[{"id":"https://openalex.org/I33213144","display_name":"University of Florida","ror":"https://ror.org/02y3ad647","country_code":"US","type":"education","lineage":["https://openalex.org/I33213144"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Warren E. Dixon","raw_affiliation_strings":["University of Florida,Department of Mechanical and Aerospace Engineering,Gainesville,FL,USA,32611-6250"],"affiliations":[{"raw_affiliation_string":"University of Florida,Department of Mechanical and Aerospace Engineering,Gainesville,FL,USA,32611-6250","institution_ids":["https://openalex.org/I33213144"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5004988388"],"corresponding_institution_ids":["https://openalex.org/I33213144"],"apc_list":null,"apc_paid":null,"fwci":1.1788,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.71186441,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"4347","last_page":"4352"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.995199978351593,"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":0.995199978351593,"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":0.994700014591217,"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/T10429","display_name":"EEG and Brain-Computer Interfaces","score":0.9933000206947327,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.844534158706665},{"id":"https://openalex.org/keywords/functional-electrical-stimulation","display_name":"Functional electrical stimulation","score":0.6679391860961914},{"id":"https://openalex.org/keywords/rehabilitation","display_name":"Rehabilitation","score":0.5818447470664978},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5416153073310852},{"id":"https://openalex.org/keywords/stimulation","display_name":"Stimulation","score":0.5410685539245605},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.4757373332977295},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.44583678245544434},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.428725004196167},{"id":"https://openalex.org/keywords/electric-stimulation-therapy","display_name":"Electric stimulation therapy","score":0.4250119924545288},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3512152433395386},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2828884720802307},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.2730029821395874},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.2347734570503235},{"id":"https://openalex.org/keywords/physical-therapy","display_name":"Physical therapy","score":0.17225396633148193},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14711737632751465},{"id":"https://openalex.org/keywords/neuroscience","display_name":"Neuroscience","score":0.13394427299499512}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.844534158706665},{"id":"https://openalex.org/C2777766275","wikidata":"https://www.wikidata.org/wiki/Q1327643","display_name":"Functional electrical stimulation","level":3,"score":0.6679391860961914},{"id":"https://openalex.org/C2778818304","wikidata":"https://www.wikidata.org/wiki/Q1819478","display_name":"Rehabilitation","level":2,"score":0.5818447470664978},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5416153073310852},{"id":"https://openalex.org/C24998067","wikidata":"https://www.wikidata.org/wiki/Q4114622","display_name":"Stimulation","level":2,"score":0.5410685539245605},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.4757373332977295},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.44583678245544434},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.428725004196167},{"id":"https://openalex.org/C2909941344","wikidata":"https://www.wikidata.org/wiki/Q1752305","display_name":"Electric stimulation therapy","level":3,"score":0.4250119924545288},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3512152433395386},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2828884720802307},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.2730029821395874},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.2347734570503235},{"id":"https://openalex.org/C1862650","wikidata":"https://www.wikidata.org/wiki/Q186005","display_name":"Physical therapy","level":1,"score":0.17225396633148193},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14711737632751465},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.13394427299499512}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/acc53348.2022.9867427","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc53348.2022.9867427","pdf_url":null,"source":{"id":"https://openalex.org/S4363607732","display_name":"2022 American Control Conference (ACC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 American Control Conference (ACC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Good health and well-being","id":"https://metadata.un.org/sdg/3","score":0.41999998688697815}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W341380584","https://openalex.org/W1520095137","https://openalex.org/W1814954395","https://openalex.org/W1995021275","https://openalex.org/W1998235755","https://openalex.org/W2088293065","https://openalex.org/W2112855530","https://openalex.org/W2117447505","https://openalex.org/W2124212030","https://openalex.org/W2128032274","https://openalex.org/W2134552162","https://openalex.org/W2171133852","https://openalex.org/W2322457197","https://openalex.org/W2345264340","https://openalex.org/W2444063516","https://openalex.org/W2604964761","https://openalex.org/W2740552037","https://openalex.org/W2743893062","https://openalex.org/W2745073858","https://openalex.org/W2785194708","https://openalex.org/W2790834253","https://openalex.org/W2887547105","https://openalex.org/W2964000405","https://openalex.org/W2972863637","https://openalex.org/W2973130774","https://openalex.org/W2995490341","https://openalex.org/W3006026799","https://openalex.org/W3028649660","https://openalex.org/W3102385017","https://openalex.org/W3125601389","https://openalex.org/W3153554681","https://openalex.org/W3165007307","https://openalex.org/W3165741305","https://openalex.org/W3216965772","https://openalex.org/W6630823904","https://openalex.org/W6741904088"],"related_works":["https://openalex.org/W2742522342","https://openalex.org/W2029537618","https://openalex.org/W2036909246","https://openalex.org/W2900726792","https://openalex.org/W1699732538","https://openalex.org/W2016238512","https://openalex.org/W2801236892","https://openalex.org/W1539050871","https://openalex.org/W2978575118","https://openalex.org/W3110354168"],"abstract_inverted_index":{"There":[0],"is":[1,17,119,142,146],"a":[2,18,51,62,114,133],"growing":[3],"need":[4],"for":[5],"telerehabilitation.":[6],"For":[7],"people":[8],"with":[9],"neuromuscular":[10],"disorders,":[11],"Functional":[12],"Electrical":[13],"Stimulation":[14],"(FES)":[15],"cycling":[16],"commonly":[19],"used":[20,147],"rehabilitation":[21,76],"technique.":[22],"Studies":[23],"have":[24],"shown":[25],"that":[26,100,150],"by":[27,78],"coordinating":[28,79],"movement":[29],"between":[30],"the":[31,71,83,90,93,98,101,125,130,140,151,161],"lower":[32],"and":[33,69,164],"upper":[34],"limbs":[35],"can":[36],"lead":[37],"to":[38,64,121,148],"faster":[39],"restoration":[40],"of":[41,50,73,92,106,124,139,160],"walking":[42],"in":[43],"many":[44],"cases.":[45],"The":[46],"author\u2019s":[47],"previous":[48],"development":[49],"strongly":[52],"coupled":[53],"bilateral":[54],"telerobotic":[55],"system":[56,86,102,127,155],"met":[57],"two":[58],"separate":[59],"goals:":[60],"enabling":[61],"therapist":[63],"direct":[65],"rehabilitative":[66,108],"efforts":[67],"remotely,":[68],"extend":[70],"benefit":[72],"in-home":[74],"FES":[75],"sessions":[77],"limb":[80],"movement.":[81],"However,":[82],"previously":[84],"developed":[85],"did":[87],"not":[88],"restrict":[89],"trajectories":[91],"leader-cycle":[94,126,162],"system,":[95],"thus":[96],"increasing":[97],"possibility":[99],"might":[103],"operate":[104],"outside":[105],"beneficial":[107],"cadence":[109,131],"ranges.":[110],"In":[111],"this":[112],"work,":[113],"control":[115],"barrier":[116],"function":[117],"(CBF)":[118],"designed":[120],"ensure":[122],"safety":[123,138],"(i.e.,":[128],"constrain":[129],"within":[132],"desired":[134],"operating":[135],"range).":[136],"Once":[137],"leader":[141],"guaranteed,":[143],"Lyapunov-based":[144],"analysis":[145],"show":[149],"follower-cycle":[152],"FES/motor":[153],"actuated":[154],"produces":[156],"global":[157],"exponential":[158],"tracking":[159],"position":[163],"cadence.":[165]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}