{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,22]],"date-time":"2026-07-22T23:09:07Z","timestamp":1784761747228,"version":"3.55.0"},"reference-count":37,"publisher":"Emerald","issue":"2","license":[{"start":{"date-parts":[[2019,3,18]],"date-time":"2019-03-18T00:00:00Z","timestamp":1552867200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IR"],"published-print":{"date-parts":[[2019,3,18]]},"abstract":"<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title>\n<jats:p>This paper aims to deal with the design of new hybrid approach for the assistance of the flexion extension movement of the knee joint.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title>\n<jats:p>The control approach combines the use of a knee joint orthosis along with functional electrical stimulation (FES) within an assist-as-needed paradigm. An active impedance controller is used to assist the generation of muscular stimulation patterns during the extension sub-phase of the knee joint movement. The generated FES patterns are appropriately tailored to achieve flexion\/extension movement of the knee joint, which allows providing the required assistance by the subject through muscular stimulation. The generated torque through stimulation is tracked by a non-linear disturbance observer and fed to the impedance controller to generate the desired trajectory that will be tracked using a standard proportional derivative controller.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Findings<\/jats:title>\n<jats:p>The approach was tested in experiments with two healthy subjects. Results show satisfactory performances in terms of estimating the knee joint torque, as well as in terms of cooperation between the FES and the orthosis actuator during the execution of the knee joint flexion\/extension movements.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Originality\/value<\/jats:title>\n<jats:p>The authors designed a new hybrid approach for the assistance of the flexion extension movement of the knee joint, which has not been studied yet. The control approach combines the use of a knee joint orthosis along with FES within an assist-as-needed paradigm.<\/jats:p>\n<\/jats:sec>","DOI":"10.1108\/ir-08-2018-0165","type":"journal-article","created":{"date-parts":[[2019,5,7]],"date-time":"2019-05-07T04:54:51Z","timestamp":1557204891000},"page":"192-201","source":"Crossref","is-referenced-by-count":12,"title":["Hybrid impedance control of a knee joint orthosis"],"prefix":"10.1108","volume":"46","author":[{"given":"Mohamed Amine","family":"Alouane","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Hala","family":"Rifai","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Kwangtaek","family":"Kim","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yacine","family":"Amirat","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Samer","family":"Mohammed","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"140","reference":[{"key":"key2020092417253828300_ref001","first-page":"188","article-title":"Active-impedance control of a lower-limb assistive exoskeleton","volume-title":"International Conference on Rehabilitation Robotics (ICORR)","year":"2007"},{"issue":"1","key":"key2020092417253828300_ref002","doi-asserted-by":"crossref","first-page":"68","DOI":"10.1109\/TNSRE.2011.2176960","article-title":"Inertia compensation control of a one-degree-of-freedom exoskeleton for lower-limb assistance: initial experiments","volume":"20","year":"2012","journal-title":"IEEE Transactions on Neural Systems and Rehabilitation Engineering"},{"issue":"3","key":"key2020092417253828300_ref003","doi-asserted-by":"crossref","first-page":"182","DOI":"10.3390\/act3030182","article-title":"Robust force control of series elastic actuators","volume":"3","year":"2014","journal-title":"Actuators"},{"issue":"4","key":"key2020092417253828300_ref004","doi-asserted-by":"crossref","first-page":"932","DOI":"10.1109\/41.857974","article-title":"A nonlinear disturbance observer for robotic manipulators","volume":"47","year":"2000","journal-title":"IEEE Transactions on Industrial Electronics"},{"key":"key2020092417253828300_ref005","first-page":"1648","article-title":"Iterative learning control","volume-title":"Encyclopedia of the Sciences of Learning","year":"2012"},{"key":"key2020092417253828300_ref006","first-page":"1","volume-title":"Important Factors in Surface Emg Measurement","year":"2002"},{"issue":"9","key":"key2020092417253828300_ref007","doi-asserted-by":"crossref","first-page":"1223","DOI":"10.1016\/0021-9290(95)00178-6","article-title":"Adjustments to Zatsiorsky-Seluyanov\u2019s segment inertia parameters","volume":"29","year":"1996","journal-title":"Journal of Biomechanics"},{"issue":"20","key":"key2020092417253828300_ref008","first-page":"338","article-title":"Optimization of a stimulation train based on a predictive model of muscle force and fatigue","volume":"48","year":"2015","journal-title":"Elsevier"},{"key":"key2020092417253828300_ref009","first-page":"634","article-title":"Dynamic optimization of stimulation frequency to reduce isometric muscle fatigue using a modified hill-huxley model","year":"2018","journal-title":"Muscle & Nerve"},{"issue":"3","key":"key2020092417253828300_ref010","doi-asserted-by":"crossref","first-page":"245","DOI":"10.1109\/7333.948452","article-title":"Model-based control of fes-induced single joint movements","volume":"9","year":"2001","journal-title":"IEEE Transactions on Neural Systems and Rehabilitation Engineering"},{"issue":"2","key":"key2020092417253828300_ref011","doi-asserted-by":"crossref","first-page":"184","DOI":"10.1016\/j.clinbiomech.2004.09.016","article-title":"Alterations in muscle activation patterns during robotic-assisted walking","volume":"20","year":"2005","journal-title":"Clinical Biomechanics"},{"issue":"1","key":"key2020092417253828300_ref012","doi-asserted-by":"crossref","first-page":"8","DOI":"10.1115\/1.3140713","article-title":"Impedance control: an approach to manipulation: part II\u2013implementation","volume":"107","year":"1985","journal-title":"Journal of Dynamic Systems, Measurement and Control"},{"issue":"5","key":"key2020092417253828300_ref013","article-title":"Motions or muscles? 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