{"id":"https://openalex.org/W52656517","doi":"https://doi.org/10.3390/s18010066","title":"Disturbance-Estimated Adaptive Backstepping Sliding Mode Control of a Pneumatic Muscles-Driven Ankle Rehabilitation Robot","display_name":"Disturbance-Estimated Adaptive Backstepping Sliding Mode Control of a Pneumatic Muscles-Driven Ankle Rehabilitation Robot","publication_year":2017,"publication_date":"2017-12-28","ids":{"openalex":"https://openalex.org/W52656517","doi":"https://doi.org/10.3390/s18010066","mag":"52656517","pmid":"https://pubmed.ncbi.nlm.nih.gov/29283406"},"language":"en","primary_location":{"id":"doi:10.3390/s18010066","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s18010066","pdf_url":"https://www.mdpi.com/1424-8220/18/1/66/pdf?version=1514461206","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/18/1/66/pdf?version=1514461206","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5091654425","display_name":"Qingsong Ai","orcid":"https://orcid.org/0000-0003-4283-2289"},"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":"Qingsong Ai","raw_affiliation_strings":["Key Laboratory of Fiber Optic Sensing Technology and Information Processing, Ministry of Education, Wuhan University of Technology, Wuhan 430070, China","School of Information Engineering, Wuhan University of Technology, Wuhan 430070, China"],"raw_orcid":"https://orcid.org/0000-0003-4283-2289","affiliations":[{"raw_affiliation_string":"Key Laboratory of Fiber Optic Sensing Technology and Information Processing, Ministry of Education, Wuhan University of Technology, Wuhan 430070, China","institution_ids":["https://openalex.org/I196699116"]},{"raw_affiliation_string":"School of Information Engineering, Wuhan University of Technology, Wuhan 430070, China","institution_ids":["https://openalex.org/I196699116"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076601667","display_name":"Chengxiang Zhu","orcid":null},"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":"Chengxiang Zhu","raw_affiliation_strings":["Key Laboratory of Fiber Optic Sensing Technology and Information Processing, Ministry of Education, Wuhan University of Technology, Wuhan 430070, China","School of Information Engineering, Wuhan University of Technology, Wuhan 430070, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Fiber Optic Sensing Technology and Information Processing, Ministry of Education, Wuhan University of Technology, Wuhan 430070, China","institution_ids":["https://openalex.org/I196699116"]},{"raw_affiliation_string":"School of Information Engineering, Wuhan University of Technology, Wuhan 430070, China","institution_ids":["https://openalex.org/I196699116"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010245248","display_name":"Jie Zuo","orcid":"https://orcid.org/0000-0002-9167-6780"},"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":"Jie Zuo","raw_affiliation_strings":["Key Laboratory of Fiber Optic Sensing Technology and Information Processing, Ministry of Education, Wuhan University of Technology, Wuhan 430070, China","School of Information Engineering, Wuhan University of Technology, Wuhan 430070, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Fiber Optic Sensing Technology and Information Processing, Ministry of Education, Wuhan University of Technology, Wuhan 430070, China","institution_ids":["https://openalex.org/I196699116"]},{"raw_affiliation_string":"School of Information Engineering, Wuhan University of Technology, Wuhan 430070, China","institution_ids":["https://openalex.org/I196699116"]}]},{"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/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/I196699116","display_name":"Wuhan University of Technology","ror":"https://ror.org/03fe7t173","country_code":"CN","type":"education","lineage":["https://openalex.org/I196699116"]}],"countries":["CN","GB"],"is_corresponding":true,"raw_author_name":"Wei Meng","raw_affiliation_strings":["Key Laboratory of Fiber Optic Sensing Technology and Information Processing, Ministry of Education, Wuhan University of Technology, Wuhan 430070, China","School of Electronic and Electrical Engineering, University of Leeds, Leeds LS2 9JT, UK","School of Information Engineering, Wuhan University of Technology, Wuhan 430070, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Fiber Optic Sensing Technology and Information Processing, Ministry of Education, Wuhan University of Technology, Wuhan 430070, China","institution_ids":["https://openalex.org/I196699116"]},{"raw_affiliation_string":"School of Electronic and Electrical Engineering, University of Leeds, Leeds LS2 9JT, UK","institution_ids":["https://openalex.org/I130828816"]},{"raw_affiliation_string":"School of Information Engineering, Wuhan University of Technology, Wuhan 430070, China","institution_ids":["https://openalex.org/I196699116"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100414577","display_name":"Quan Liu","orcid":"https://orcid.org/0000-0002-9036-0290"},"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":"Quan Liu","raw_affiliation_strings":["Key Laboratory of Fiber Optic Sensing Technology and Information Processing, Ministry of Education, Wuhan University of Technology, Wuhan 430070, China","School of Information Engineering, Wuhan University of Technology, Wuhan 430070, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Fiber Optic Sensing Technology and Information Processing, Ministry of Education, Wuhan University of Technology, Wuhan 430070, China","institution_ids":["https://openalex.org/I196699116"]},{"raw_affiliation_string":"School of Information Engineering, Wuhan University of Technology, Wuhan 430070, China","institution_ids":["https://openalex.org/I196699116"]}]},{"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/I196699116","display_name":"Wuhan University of Technology","ror":"https://ror.org/03fe7t173","country_code":"CN","type":"education","lineage":["https://openalex.org/I196699116"]}],"countries":["CN","GB"],"is_corresponding":false,"raw_author_name":"Sheng Xie","raw_affiliation_strings":["School of Electronic and Electrical Engineering, University of Leeds, Leeds LS2 9JT, UK","School of Information Engineering, Wuhan University of Technology, Wuhan 430070, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electronic and Electrical Engineering, University of Leeds, Leeds LS2 9JT, UK","institution_ids":["https://openalex.org/I130828816"]},{"raw_affiliation_string":"School of Information Engineering, Wuhan University of Technology, Wuhan 430070, China","institution_ids":["https://openalex.org/I196699116"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024851747","display_name":"Ming Yang","orcid":"https://orcid.org/0000-0001-8867-9211"},"institutions":[{"id":"https://openalex.org/I73417466","display_name":"Coventry University","ror":"https://ror.org/01tgmhj36","country_code":"GB","type":"education","lineage":["https://openalex.org/I73417466"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ming Yang","raw_affiliation_strings":["Faculty of Engineering, Environment and Computing, Coventry University, Coventry CV1 5FB, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Engineering, Environment and Computing, Coventry University, Coventry CV1 5FB, UK","institution_ids":["https://openalex.org/I73417466"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5088723765"],"corresponding_institution_ids":["https://openalex.org/I130828816","https://openalex.org/I196699116"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":2.6249,"has_fulltext":true,"cited_by_count":56,"citation_normalized_percentile":{"value":0.89289946,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"18","issue":"1","first_page":"66","last_page":"66"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9991999864578247,"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":0.9991999864578247,"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/T10925","display_name":"Spinal Cord Injury Research","score":0.9976000189781189,"subfield":{"id":"https://openalex.org/subfields/2734","display_name":"Pathology and Forensic Medicine"},"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/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.996399998664856,"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/control-theory","display_name":"Control theory (sociology)","score":0.6749014258384705},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6222759485244751},{"id":"https://openalex.org/keywords/backstepping","display_name":"Backstepping","score":0.6141375303268433},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.5399141311645508},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.49269798398017883},{"id":"https://openalex.org/keywords/rehabilitation-robotics","display_name":"Rehabilitation robotics","score":0.4758546054363251},{"id":"https://openalex.org/keywords/rehabilitation","display_name":"Rehabilitation","score":0.47083616256713867},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4677064120769501},{"id":"https://openalex.org/keywords/ankle","display_name":"Ankle","score":0.45507916808128357},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.44933387637138367},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.4377150535583496},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3999009132385254},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.39031901955604553},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34329789876937866},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.3195071220397949},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2213904857635498},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21203550696372986},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.0938194990158081},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08995628356933594},{"id":"https://openalex.org/keywords/physical-therapy","display_name":"Physical therapy","score":0.08696019649505615}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6749014258384705},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6222759485244751},{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.6141375303268433},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.5399141311645508},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.49269798398017883},{"id":"https://openalex.org/C2775862927","wikidata":"https://www.wikidata.org/wiki/Q7309766","display_name":"Rehabilitation robotics","level":3,"score":0.4758546054363251},{"id":"https://openalex.org/C2778818304","wikidata":"https://www.wikidata.org/wiki/Q1819478","display_name":"Rehabilitation","level":2,"score":0.47083616256713867},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4677064120769501},{"id":"https://openalex.org/C2778640784","wikidata":"https://www.wikidata.org/wiki/Q168002","display_name":"Ankle","level":2,"score":0.45507916808128357},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44933387637138367},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.4377150535583496},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3999009132385254},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.39031901955604553},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34329789876937866},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.3195071220397949},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2213904857635498},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21203550696372986},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0938194990158081},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08995628356933594},{"id":"https://openalex.org/C1862650","wikidata":"https://www.wikidata.org/wiki/Q186005","display_name":"Physical therapy","level":1,"score":0.08696019649505615},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D000842","descriptor_name":"Ankle","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000842","descriptor_name":"Ankle","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000842","descriptor_name":"Ankle","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000843","descriptor_name":"Ankle Joint","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000843","descriptor_name":"Ankle Joint","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000843","descriptor_name":"Ankle Joint","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009132","descriptor_name":"Muscles","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009132","descriptor_name":"Muscles","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009132","descriptor_name":"Muscles","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false}],"locations_count":7,"locations":[{"id":"doi:10.3390/s18010066","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s18010066","pdf_url":"https://www.mdpi.com/1424-8220/18/1/66/pdf?version=1514461206","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},{"id":"pmid:29283406","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/29283406","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:pure.atira.dk:openaire/15d4294b-cade-462c-9ff3-f60f5b8b554e","is_oa":true,"landing_page_url":"https://pureportal.coventry.ac.uk/en/publications/15d4294b-cade-462c-9ff3-f60f5b8b554e","pdf_url":null,"source":{"id":"https://openalex.org/S4306402411","display_name":"Pure (Coventry University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I73417466","host_organization_name":"Coventry University","host_organization_lineage":["https://openalex.org/I73417466"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Yang, M, Ai, Q, Zhu, C, Zuo, J, Meng, W, Li, Q & Xie, S Q 2018, 'Disturbance-Estimated Adaptive Backstepping Sliding Mode Control of a Pneumatic Muscles-Driven Ankle Rehabilitation Robot', Sensors, vol. 18, no. 1, 66. https://doi.org/10.3390/s18010066","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:eprints.whiterose.ac.uk:125775","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:doaj.org/article:2012fdf65da1414880df5e12301a47c0","is_oa":true,"landing_page_url":"https://doaj.org/article/2012fdf65da1414880df5e12301a47c0","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 18, Iss 1, p 66 (2017)","raw_type":"article"},{"id":"pmh:oai:europepmc.org:4718090","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/5796385","pdf_url":null,"source":{"id":"https://openalex.org/S4306400806","display_name":"Europe PMC (PubMed Central)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1303153112","host_organization_name":"European Bioinformatics Institute","host_organization_lineage":["https://openalex.org/I1303153112"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Text"},{"id":"pmh:oai:pure.atira.dk:publications/15d4294b-cade-462c-9ff3-f60f5b8b554e","is_oa":true,"landing_page_url":"https://pureportal.coventry.ac.uk/en/publications/disturbanceestimated-adaptive-backstepping-sliding-mode-control-of-a-pneumatic-musclesdriven-ankle-rehabilitation-robot(15d4294b-cade-462c-9ff3-f60f5b8b554e).html","pdf_url":null,"source":{"id":"https://openalex.org/S4306402411","display_name":"Pure (Coventry University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I73417466","host_organization_name":"Coventry University","host_organization_lineage":["https://openalex.org/I73417466"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""}],"best_oa_location":{"id":"doi:10.3390/s18010066","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s18010066","pdf_url":"https://www.mdpi.com/1424-8220/18/1/66/pdf?version=1514461206","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/1","score":0.49000000953674316,"display_name":"No poverty"}],"awards":[{"id":"https://openalex.org/G4918531029","display_name":null,"funder_award_id":"51475342","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5374171492","display_name":null,"funder_award_id":"51705381","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G664322881","display_name":null,"funder_award_id":"51675389","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W52656517.pdf","grobid_xml":"https://content.openalex.org/works/W52656517.grobid-xml"},"referenced_works_count":61,"referenced_works":["https://openalex.org/W30439953","https://openalex.org/W889251687","https://openalex.org/W955807757","https://openalex.org/W1000279381","https://openalex.org/W1539404831","https://openalex.org/W1805813059","https://openalex.org/W1964092618","https://openalex.org/W1965977540","https://openalex.org/W1966538400","https://openalex.org/W1975932735","https://openalex.org/W1990851787","https://openalex.org/W1996955699","https://openalex.org/W2011031763","https://openalex.org/W2013590475","https://openalex.org/W2026561558","https://openalex.org/W2037112603","https://openalex.org/W2038095121","https://openalex.org/W2049899278","https://openalex.org/W2062939404","https://openalex.org/W2067407243","https://openalex.org/W2070140943","https://openalex.org/W2075795552","https://openalex.org/W2086541014","https://openalex.org/W2090057305","https://openalex.org/W2095585896","https://openalex.org/W2112427939","https://openalex.org/W2117519428","https://openalex.org/W2124249874","https://openalex.org/W2128983498","https://openalex.org/W2150027143","https://openalex.org/W2158636510","https://openalex.org/W2169424109","https://openalex.org/W2170274344","https://openalex.org/W2214816543","https://openalex.org/W2255314003","https://openalex.org/W2399442776","https://openalex.org/W2406548197","https://openalex.org/W2416913319","https://openalex.org/W2508081284","https://openalex.org/W2517948259","https://openalex.org/W2527987682","https://openalex.org/W2537878323","https://openalex.org/W2551644359","https://openalex.org/W2552848864","https://openalex.org/W2557937525","https://openalex.org/W2566446143","https://openalex.org/W2569878257","https://openalex.org/W2581117323","https://openalex.org/W2584789783","https://openalex.org/W2594207839","https://openalex.org/W2617356023","https://openalex.org/W2736426713","https://openalex.org/W2737078764","https://openalex.org/W2743463877","https://openalex.org/W2761306351","https://openalex.org/W2773201695","https://openalex.org/W3023665282","https://openalex.org/W6601221576","https://openalex.org/W6624219920","https://openalex.org/W6653218201","https://openalex.org/W6731390851"],"related_works":["https://openalex.org/W1765905465","https://openalex.org/W2793080664","https://openalex.org/W2186140227","https://openalex.org/W2132535444","https://openalex.org/W2534185822","https://openalex.org/W2771027241","https://openalex.org/W1847613412","https://openalex.org/W2036311230","https://openalex.org/W2972367213","https://openalex.org/W4382203996"],"abstract_inverted_index":{"A":[0],"rehabilitation":[1,24,32,72,147],"robot":[2,73,125,148],"plays":[3],"an":[4,95,116],"important":[5],"role":[6],"in":[7,39,93,105,167,173,184],"relieving":[8],"the":[9,81,90,124,137,144,151,158,164],"therapists'":[10],"burden":[11],"and":[12,22,36,46,57,87,162,179],"helping":[13],"patients":[14],"with":[15],"ankle":[16,31,71,146],"injuries":[17],"to":[18,88,122,127,156],"perform":[19],"more":[20],"accurate":[21],"effective":[23],"training.":[25],"However,":[26],"a":[27,62,174],"majority":[28],"of":[29,41,48,52,66],"current":[30],"robots":[33],"are":[34],"rigid":[35],"have":[37],"drawbacks":[38],"terms":[40],"complex":[42],"structure,":[43],"poor":[44],"flexibility":[45,56],"lack":[47],"safety.":[49],"Taking":[50],"advantages":[51],"pneumatic":[53,76],"muscles'":[54],"good":[55],"light":[58],"weight,":[59],"we":[60],"developed":[61],"novel":[63],"two":[64],"degrees":[65],"freedom":[67],"(2-DOF)":[68],"parallel":[69],"compliant":[70,145],"actuated":[74],"by":[75,115,136],"muscles":[77],"(PMs).":[78],"To":[79],"solve":[80],"PM's":[82],"nonlinear":[83],"characteristics":[84],"during":[85,170],"operation":[86],"tackle":[89],"human-robot":[91,109],"uncertainties":[92],"rehabilitation,":[94],"adaptive":[96],"backstepping":[97],"sliding":[98],"mode":[99],"control":[100,165],"(ABS-SMC)":[101],"method":[102],"is":[103,119,134,154],"proposed":[104,152],"this":[106],"paper.":[107],"The":[108,131],"external":[110,129,159],"disturbance":[111,160],"can":[112],"be":[113],"estimated":[114],"observer,":[117],"who":[118],"then":[120],"used":[121],"adjust":[123,163],"output":[126,166],"accommodate":[128],"changes.":[130],"system":[132],"stability":[133,139],"guaranteed":[135],"Lyapunov":[138],"theorem.":[140],"Experimental":[141],"results":[142],"on":[143],"show":[149],"that":[150],"ABS-SMC":[153],"able":[155],"estimate":[157],"online":[161],"real":[168],"time":[169],"operation,":[171],"resulting":[172],"higher":[175],"trajectory":[176],"tracking":[177],"accuracy":[178],"better":[180],"response":[181],"performance":[182],"especially":[183],"dynamic":[185],"conditions.":[186]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":9},{"year":2018,"cited_by_count":5}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
