{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,8,29]],"date-time":"2025-08-29T09:54:06Z","timestamp":1756461246516,"version":"3.40.5"},"reference-count":32,"publisher":"Cambridge University Press (CUP)","issue":"5","license":[{"start":{"date-parts":[[2020,7,29]],"date-time":"2020-07-29T00:00:00Z","timestamp":1595980800000},"content-version":"unspecified","delay-in-days":89,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2020,5]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>In the present work, the ankle rehabilitation robot (ARR) dynamic model that implements a new series of connection control strategies is introduced. The dynamic models are presented in this regard. This model analyzes the robot LuGre friction model and the nonlinear disturbance model. To improve the ARR system\u2019s rapidity and robustness, a composite 2-degree of freedom (2-DOF) internal model control (IMC) controller is presented. The control performance of the compound 2-DOF IMC controller is simulated and analyzed in the present work. The simulation shows that the composite 2-DOF IMC controller has high following performance. For practical testing purposes, 1-DOF passive training and predetermined trajectory following have been completed for different swing amplitudes and frequencies. Moreover, the thrust and tension torque of the robotic dynamic and static loading characteristics are studied in active control mode. The experimental results show the effectiveness of passive training of the given trajectory and impedance training active control strategy. This paper gives the specific functions of ARR.<\/jats:p>","DOI":"10.1017\/s0263574719001188","type":"journal-article","created":{"date-parts":[[2019,7,29]],"date-time":"2019-07-29T09:17:41Z","timestamp":1564391861000},"page":"940-956","source":"Crossref","is-referenced-by-count":14,"title":["Internal Model Control and Experimental Study of Ankle Rehabilitation Robot"],"prefix":"10.1017","volume":"38","author":[{"given":"Lan","family":"Wang","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3612-7607","authenticated-orcid":false,"given":"Ying","family":"Chang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Haitao","family":"Zhu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2020,7,29]]},"reference":[{"key":"S0263574719001188_ref30","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2016.2644620"},{"key":"S0263574719001188_ref29","doi-asserted-by":"publisher","DOI":"10.1109\/41.954562"},{"key":"S0263574719001188_ref28","doi-asserted-by":"publisher","DOI":"10.1016\/0957-4158(95)00089-5"},{"key":"S0263574719001188_ref26","doi-asserted-by":"crossref","first-page":"419","DOI":"10.1109\/9.376053","article-title":"\u201cA newmodel for control of systems with friction,\u201d","volume":"40","author":"DeWit","year":"1995","journal-title":"IEEE Trans. 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E. , \u201cDual Stewart Platform Mobility Simulator,\u201d Proceedings of the 2005 IEEE 9th International Conference on Rehabilitation Robotics, Chicago, IL, USA (2005) pp. 550\u2013555."},{"key":"S0263574719001188_ref1","doi-asserted-by":"publisher","DOI":"10.1186\/1743-0003-6-23"},{"key":"S0263574719001188_ref25","doi-asserted-by":"publisher","DOI":"10.1109\/MCS.2008.929425"},{"key":"S0263574719001188_ref15","doi-asserted-by":"publisher","DOI":"10.1115\/1.4040886"},{"key":"S0263574719001188_ref3","doi-asserted-by":"crossref","first-page":"38","DOI":"10.1109\/TNSRE.2009.2033061","article-title":"\u201cPath control: A method for patient-cooperative robot aided gait rehabilitation,\u201d","volume":"18","author":"Alexander","year":"2010","journal-title":"IEEE Trans. Neural Syst. Rehabil. Eng."},{"key":"S0263574719001188_ref21","unstructured":"21. Wang, L. , Zhu, H. and Chen, Z. , \u201cModeling and Control of Ankle Rehabilitation Robot with Nonlinear Factors,\u201d Proceeding of the IEEE International Conference on Information and Automation, Hailar, China (2014) pp. 64\u201375."},{"key":"S0263574719001188_ref16","doi-asserted-by":"publisher","DOI":"10.1109\/TNSRE.2009.2039620"},{"key":"S0263574719001188_ref6","doi-asserted-by":"publisher","DOI":"10.1682\/JRRD.2005.02.0046"},{"key":"S0263574719001188_ref24","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2009.09.007"},{"key":"S0263574719001188_ref2","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2013.2275903"},{"key":"S0263574719001188_ref4","doi-asserted-by":"publisher","DOI":"10.1162\/1054746011470262"},{"key":"S0263574719001188_ref7","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2017.2733425"},{"key":"S0263574719001188_ref9","unstructured":"9. Roy, A. , Krebs, H. I. , Patterson, S. L. , Judkins, T. N. , Khanna, I. , Forrester, L. W. , Macko, R. M. and Hogan, N. , \u201cMeasurement of Human Ankle Stiffness using the Anklebot,\u201d Proceedings of the 2007 IEEE 10th International Conference on Rehabilitation Robotics, Noordwijk, The Netherlands (2007) pp. 356\u2013363."},{"key":"S0263574719001188_ref8","doi-asserted-by":"publisher","DOI":"10.1016\/j.eswa.2010.12.154"},{"key":"S0263574719001188_ref10","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2009.2019783"},{"key":"S0263574719001188_ref27","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-014-0118-6"},{"key":"S0263574719001188_ref11","doi-asserted-by":"publisher","DOI":"10.1097\/01.PHM.0000137313.14480.CE"},{"key":"S0263574719001188_ref12","doi-asserted-by":"publisher","DOI":"10.1007\/s12555-017-0198-8"},{"key":"S0263574719001188_ref13","doi-asserted-by":"publisher","DOI":"10.1016\/j.aeue.2010.07.004"},{"key":"S0263574719001188_ref14","doi-asserted-by":"publisher","DOI":"10.1016\/j.engappai.2017.07.002"},{"key":"S0263574719001188_ref17","first-page":"200","article-title":"\u201cDesign and control of a bio-inspired soft wearable robotic device for ankle\u2013foot rehabilitation,\u201d","volume":"16","author":"Park","year":"2017","journal-title":"Bioinspir. 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