ArticleCyborg and bionic systems (Washington, D.C.)2024
Impedance Sliding-Mode Control Based on Stiffness Scheduling for Rehabilitation Robot Systems.
Article in Cyborg and bionic systems (Washington, D.C.), 2024. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 9 papers.
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Who cites it
9 citing papers in PubMed.
- Phase-Specific Biomechanical Reorganization After Robotic Rehabilitation in Patients with Stroke: A Sensor-Derived Waveform Analysis.Life (Basel, Switzerland) · 2026Article
- Sensor-Derived Trunk Stability and Gait Recovery: Evidence of Neuromechanical Associations Following Intensive Robotic Rehabilitation.Sensors (Basel, Switzerland) · 2026Article
- Sensorimotor Integration by Targeted Priming in Muscles with Electromyography-Driven Electro-vibro-feedback in Robot-Assisted Wrist/Hand Rehabilitation after Stroke.Cyborg and bionic systems (Washington, D.C.) · 2026Article
- Advancing Home Rehabilitation: The PlanAID Robot's Approach to Upper-Body Exercise Through Impedance Control.Sensors (Basel, Switzerland) · 2025Article
- Robot-Assisted Dynamic Interaction of Hemiplegic Upper Limbs with Complex Objects Based on Enhanced Feedforward-Impedance Control.Biomimetics (Basel, Switzerland) · 2025Article
- Optimal Sliding Mode Fault-Tolerant Control for Multiple Robotic Manipulators via Critic-Only Dynamic Programming.Sensors (Basel, Switzerland) · 2025Article
- Advanced bioactuator selection for efficient human motion simulation in biohybrid robots using CSF dynamic knowledge.Scientific reports · 2025Article
- Sensorless Impedance Control of Micro Finger Using Coprime Factorization.Micromachines · 2025Article
- An effectiveness of machine learning models for estimate the financial cost of assistive services to disability care in the Kingdom of Saudi Arabia.Scientific reports · 2025Article
Corrections and comments
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Authors and funding
5 authors.
Funding
No grant is acknowledged in the PubMed record.
Abstract
Rehabilitation robots can reproduce the rehabilitation movements of therapists by designed rehabilitation robot control methods to achieve the goal of training the patients' motion abilities. This paper proposes an impedance sliding-mode control method based on stiffness-scheduled law for the rehabilitation robot, which can be applied to rehabilitation training with both active and passive modes. A free-model-based sliding-mode control strategy is developed to avoid model dependence and reduce the system uncertainty caused by limb shaking. Additionally, the stiffness scheduling rule automatically regulates the impedance parameter of the rehabilitation robot based on the force exerted by the patient on the robot such that the rehabilitation training caters to the patient's health condition. The proposed method is compared with the fixed stiffness and variable stiffness impedance methods, and the superiority of the proposed method is proved. Rehabilitation training experiments on an actual rehabilitation robot are provided to demonstrate the feasibility and stability of the proposed method.
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.