{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,7]],"date-time":"2025-11-07T13:26:45Z","timestamp":1762522005035},"reference-count":23,"publisher":"World Scientific Pub Co Pte Lt","issue":"09","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Int. J. Patt. Recogn. Artif. Intell."],"published-print":{"date-parts":[[2017,9]]},"abstract":"<jats:p> To regain mobility, stroke patients need to receive repetitive and intensive therapy. Robot-assisted rehabilitation is an active area of research. Cheap robotic leg rehabilitation devices should be developed to meet the demands and assist most patients. A low cost hip-knee exoskeleton prototype powered by pneumatic muscles was developed. On this basis, Functional Electrical Stimulation (FES) induced paralyzed muscles to realize ankle joint rehabilitation training. These three ankle muscles: the tibialis anterior, the soleus, and the gastrocnemius under electrical stimulation cooperated together to realize optimally coordinated control of dorsiflexion and plantar-flexion movement. As both of pneumatic muscle and FES induced muscle possess highly nonlinear characteristics, a sliding control algorithm called Chattering mitigation Robust Variable Control (CRVC) was applied to leg hybrid rehabilitation. The combination of exoskeleton and FES is a promising way to reduce the cost and the complexity of designing hip-knee-ankle exoskeleton. The proposed hybrid method was verified by treadmill-based gait training experiments. <\/jats:p>","DOI":"10.1142\/s0218001417590194","type":"journal-article","created":{"date-parts":[[2017,2,17]],"date-time":"2017-02-17T02:01:27Z","timestamp":1487296887000},"page":"1759019","source":"Crossref","is-referenced-by-count":10,"title":["Model-Based Hybrid Cooperative Control of Hip-Knee Exoskeleton and FES Induced Ankle Muscles for Gait Rehabilitation"],"prefix":"10.1142","volume":"31","author":[{"given":"Xikai","family":"Tu","sequence":"first","affiliation":[{"name":"School of Industrial Design, Hubei University of Technology, Wuhan 430068, P. R. China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jiaxin","family":"Li","sequence":"additional","affiliation":[{"name":"School of Industrial Design, Hubei University of Technology, Wuhan 430068, P. R. 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