{"id":"https://openalex.org/W2898106623","doi":"https://doi.org/10.3390/s18113611","title":"Development, Dynamic Modeling, and Multi-Modal Control of a Therapeutic Exoskeleton for Upper Limb Rehabilitation Training","display_name":"Development, Dynamic Modeling, and Multi-Modal Control of a Therapeutic Exoskeleton for Upper Limb Rehabilitation Training","publication_year":2018,"publication_date":"2018-10-24","ids":{"openalex":"https://openalex.org/W2898106623","doi":"https://doi.org/10.3390/s18113611","mag":"2898106623","pmid":"https://pubmed.ncbi.nlm.nih.gov/30356005"},"language":"en","primary_location":{"id":"doi:10.3390/s18113611","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s18113611","pdf_url":"https://www.mdpi.com/1424-8220/18/11/3611/pdf?version=1540446498","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/1424-8220/18/11/3611/pdf?version=1540446498","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5049492957","display_name":"Qingcong Wu","orcid":"https://orcid.org/0000-0002-7774-6092"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Qingcong Wu","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China"],"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102983071","display_name":"Hongtao Wu","orcid":"https://orcid.org/0000-0002-3885-930X"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Hongtao Wu","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China","State Key Laboratory of Robotics and System, Harbin Institute of Technology (HIT), Harbin 150001, China"],"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China","institution_ids":["https://openalex.org/I9842412"]},{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology (HIT), Harbin 150001, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5049492957","https://openalex.org/A5102983071"],"corresponding_institution_ids":["https://openalex.org/I204983213","https://openalex.org/I9842412"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":3.3752,"has_fulltext":true,"cited_by_count":35,"citation_normalized_percentile":{"value":0.92385373,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"18","issue":"11","first_page":"3611","last_page":"3611"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9976000189781189,"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":0.9886000156402588,"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/exoskeleton","display_name":"Exoskeleton","score":0.8490668535232544},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6814669966697693},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.6391201615333557},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5954601764678955},{"id":"https://openalex.org/keywords/modal","display_name":"Modal","score":0.5249547958374023},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5181238055229187},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4356672763824463},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4264095425605774},{"id":"https://openalex.org/keywords/rehabilitation","display_name":"Rehabilitation","score":0.41194069385528564},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.40932250022888184},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.39737534523010254},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.34603118896484375},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2942546010017395},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21221178770065308},{"id":"https://openalex.org/keywords/physical-therapy","display_name":"Physical therapy","score":0.13672304153442383},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.10156592726707458}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.8490668535232544},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6814669966697693},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.6391201615333557},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5954601764678955},{"id":"https://openalex.org/C71139939","wikidata":"https://www.wikidata.org/wiki/Q910194","display_name":"Modal","level":2,"score":0.5249547958374023},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5181238055229187},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4356672763824463},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4264095425605774},{"id":"https://openalex.org/C2778818304","wikidata":"https://www.wikidata.org/wiki/Q1819478","display_name":"Rehabilitation","level":2,"score":0.41194069385528564},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.40932250022888184},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.39737534523010254},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34603118896484375},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2942546010017395},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21221178770065308},{"id":"https://openalex.org/C1862650","wikidata":"https://www.wikidata.org/wiki/Q186005","display_name":"Physical therapy","level":1,"score":0.13672304153442383},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.10156592726707458},{"id":"https://openalex.org/C188027245","wikidata":"https://www.wikidata.org/wiki/Q750446","display_name":"Polymer chemistry","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},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D000067190","descriptor_name":"Exoskeleton Device","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000067190","descriptor_name":"Exoskeleton Device","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000067190","descriptor_name":"Exoskeleton Device","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"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":"D012046","descriptor_name":"Rehabilitation","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D012046","descriptor_name":"Rehabilitation","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D012046","descriptor_name":"Rehabilitation","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D034941","descriptor_name":"Upper Extremity","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D034941","descriptor_name":"Upper Extremity","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D034941","descriptor_name":"Upper Extremity","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false}],"locations_count":6,"locations":[{"id":"doi:10.3390/s18113611","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s18113611","pdf_url":"https://www.mdpi.com/1424-8220/18/11/3611/pdf?version=1540446498","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:30356005","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/30356005","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:doaj.org/article:15520dba781148f1978b200cc77d2d0d","is_oa":true,"landing_page_url":"https://doaj.org/article/15520dba781148f1978b200cc77d2d0d","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 11, p 3611 (2018)","raw_type":"article"},{"id":"pmh:oai:europepmc.org:5257678","is_oa":true,"landing_page_url":"http://europepmc.org/pmc/articles/PMC6263634","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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},{"id":"pmh:oai:mdpi.com:/1424-8220/18/11/3611/","is_oa":true,"landing_page_url":"http://dx.doi.org/10.3390/s18113611","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"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":"Sensors","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:6263634","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/6263634","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors (Basel)","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s18113611","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s18113611","pdf_url":"https://www.mdpi.com/1424-8220/18/11/3611/pdf?version=1540446498","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":[{"score":0.5299999713897705,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[{"id":"https://openalex.org/G2030376154","display_name":null,"funder_award_id":"Grant","funder_id":"https://openalex.org/F4320322769","funder_display_name":"Natural Science Foundation of Jiangsu Province"},{"id":"https://openalex.org/G2087396116","display_name":null,"funder_award_id":"China","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3085993365","display_name":null,"funder_award_id":"(Grant No.","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3317480652","display_name":null,"funder_award_id":"Science","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3402646528","display_name":null,"funder_award_id":"2017ZC52037","funder_id":"https://openalex.org/F4320322857","funder_display_name":"Aeronautical Science Foundation of China"},{"id":"https://openalex.org/G37568934","display_name":null,"funder_award_id":"Grant","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3910829908","display_name":null,"funder_award_id":"China","funder_id":"https://openalex.org/F4320322769","funder_display_name":"Natural Science Foundation of Jiangsu Province"},{"id":"https://openalex.org/G434869240","display_name":null,"funder_award_id":"201707","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4787898886","display_name":null,"funder_award_id":"51705240","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4796043089","display_name":null,"funder_award_id":"SKLRS-2018-KF-10","funder_id":"https://openalex.org/F4320327001","funder_display_name":"State Key Laboratory of Robotics and System"},{"id":"https://openalex.org/G5994120800","display_name":null,"funder_award_id":"Natural","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6584340026","display_name":null,"funder_award_id":"BK20170783","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7726157001","display_name":null,"funder_award_id":"Grant No.","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8712471183","display_name":null,"funder_award_id":"BK20170783","funder_id":"https://openalex.org/F4320322769","funder_display_name":"Natural Science Foundation of Jiangsu Province"},{"id":"https://openalex.org/G8983592378","display_name":null,"funder_award_id":"201707","funder_id":"https://openalex.org/F4320322769","funder_display_name":"Natural Science Foundation of Jiangsu Province"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321605","display_name":"Government of Jiangsu Province","ror":"https://ror.org/004svx814"},{"id":"https://openalex.org/F4320322769","display_name":"Natural Science Foundation of Jiangsu Province","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322857","display_name":"Aeronautical Science Foundation of China","ror":"https://ror.org/02wq41p38"},{"id":"https://openalex.org/F4320326907","display_name":"State Key Laboratory of Robotics","ror":null},{"id":"https://openalex.org/F4320327001","display_name":"State Key Laboratory of Robotics and System","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2898106623.pdf","grobid_xml":"https://content.openalex.org/works/W2898106623.grobid-xml"},"referenced_works_count":47,"referenced_works":["https://openalex.org/W52656517","https://openalex.org/W1611146816","https://openalex.org/W1965977540","https://openalex.org/W1980753202","https://openalex.org/W1997813158","https://openalex.org/W2051335294","https://openalex.org/W2062763880","https://openalex.org/W2073669760","https://openalex.org/W2107122393","https://openalex.org/W2118766245","https://openalex.org/W2125213782","https://openalex.org/W2159397948","https://openalex.org/W2248254770","https://openalex.org/W2253274025","https://openalex.org/W2280792794","https://openalex.org/W2284475612","https://openalex.org/W2330179402","https://openalex.org/W2343472016","https://openalex.org/W2344885770","https://openalex.org/W2528715854","https://openalex.org/W2533599559","https://openalex.org/W2557937525","https://openalex.org/W2600077184","https://openalex.org/W2604394358","https://openalex.org/W2616102980","https://openalex.org/W2626247861","https://openalex.org/W2742744172","https://openalex.org/W2746748292","https://openalex.org/W2752136696","https://openalex.org/W2769294089","https://openalex.org/W2770270150","https://openalex.org/W2770983662","https://openalex.org/W2788800958","https://openalex.org/W2793319643","https://openalex.org/W2793699827","https://openalex.org/W2793732715","https://openalex.org/W2795727968","https://openalex.org/W2795904827","https://openalex.org/W2801628316","https://openalex.org/W2802493586","https://openalex.org/W2802587944","https://openalex.org/W2808934964","https://openalex.org/W2809563891","https://openalex.org/W2810438819","https://openalex.org/W2821353650","https://openalex.org/W2890657955","https://openalex.org/W2897095001"],"related_works":["https://openalex.org/W2901258812","https://openalex.org/W2887985348","https://openalex.org/W2401700601","https://openalex.org/W2570835373","https://openalex.org/W3198063775","https://openalex.org/W3017269254","https://openalex.org/W2557545276","https://openalex.org/W4387054232","https://openalex.org/W2590554196","https://openalex.org/W2591464318"],"abstract_inverted_index":{"Robot-assisted":[0],"training":[1,40,147,180],"is":[2,31,56,82,102,160],"a":[3,21,26],"promising":[4],"technology":[5],"in":[6,90,115],"clinical":[7],"rehabilitation":[8],"providing":[9],"effective":[10],"treatment":[11],"to":[12,33,84,104,123,185],"the":[13,35,48,66,86,110,125,128,133,137,145,154,172,179,187],"patients":[14,114],"with":[15,50,78,98,141],"motor":[16],"disability.":[17],"In":[18],"this":[19],"paper,":[20],"multi-modal":[22],"control":[23,88,130],"strategy":[24],"for":[25],"therapeutic":[27],"upper":[28],"limb":[29],"exoskeleton":[30,49],"proposed":[32,129],"assist":[34],"disabled":[36],"persons":[37],"perform":[38],"patient-passive":[39,91],"and":[41,61,108,144],"patient-cooperative":[42,116],"training.":[43,92,117],"A":[44,93],"comprehensive":[45],"overview":[46],"of":[47,54,65,113,127,157,164,175,189],"seven":[51],"actuated":[52],"degrees":[53],"freedom":[55],"introduced.":[57],"The":[58,149],"dynamic":[59],"modeling":[60],"parameters":[62,174],"identification":[63],"strategies":[64],"human-robot":[67],"interaction":[68,106],"system":[69],"are":[70,121],"analyzed.":[71],"Moreover,":[72],"an":[73],"adaptive":[74],"sliding":[75,166],"mode":[76,167],"controller":[77,97,159],"disturbance":[79],"observer":[80],"(ASMCDO)":[81],"developed":[83],"ensure":[85],"position":[87],"accuracy":[89],"cascade-proportional-integral-derivative":[94],"(CPID)-based":[95],"impedance":[96,142,173,177],"graphical":[99],"game-like":[100],"interface":[101],"designed":[103],"improve":[105],"compliance":[107],"motivate":[109],"active":[111],"participation":[112],"Three":[118],"typical":[119],"experiments":[120,140],"conducted":[122],"verify":[124],"feasibility":[126],"strategy,":[131],"including":[132],"trajectory":[134,138],"tracking":[135,139,155],"experiments,":[136],"adjustment,":[143],"intention-based":[146],"experiments.":[148],"experimental":[150],"results":[151],"suggest":[152],"that":[153,163],"error":[156],"ASMCDO":[158],"smaller":[161],"than":[162],"terminal":[165],"controller.":[168],"By":[169],"optimally":[170],"changing":[171],"CPID-based":[176],"controller,":[178],"intensity":[181],"can":[182],"be":[183],"adjusted":[184],"meet":[186],"requirement":[188],"different":[190],"patients.":[191]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":1}],"updated_date":"2026-04-18T07:56:08.524223","created_date":"2025-10-10T00:00:00"}