{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,4]],"date-time":"2026-06-04T14:08:33Z","timestamp":1780582113887,"version":"3.54.1"},"reference-count":70,"publisher":"SAGE Publications","issue":"1","license":[{"start":{"date-parts":[[2019,8,30]],"date-time":"2019-08-30T00:00:00Z","timestamp":1567123200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"funder":[{"name":"CUHK T Stone Robotics Institute","award":["C4930759"],"award-info":[{"award-number":["C4930759"]}]},{"name":"Knowledge Transfer Project Fund of the Chinese University of Hong Kong","award":["KPF18HLF12"],"award-info":[{"award-number":["KPF18HLF12"]}]},{"name":"Innovation and Technology Fund of Hong Kong","award":["ITS\/065\/18FP"],"award-info":[{"award-number":["ITS\/065\/18FP"]}]}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2021,1]]},"abstract":"<jats:p>Soft robots are considered intrinsically safe with regard to human\u2013robot interaction. This has motivated the development and investigation of soft medical robots, such as soft robotic gloves for stroke rehabilitation. However, the output force of conventional purely soft actuators is usually limited. This restricts their application in stroke rehabilitation, which requires a large force and bidirectional movement. In addition, accurate control of soft actuators is difficult owing to the nonlinearity of purely soft actuators. In this study, a soft robotic glove is designed based on a soft-elastic composite actuator (SECA) that integrates an elastic torque compensating layer to increase the output force as well as achieving bidirectional movement. Such a hybrid design also significantly reduces the degree of nonlinearity compared with a purely soft actuator. A model-based online learning and adaptive control algorithm is proposed for the wearable soft robotic glove, taking its interaction environment into account, namely, the human hand\/finger. The designed hybrid controller enables the soft robotic glove to adapt to different hand conditions for reference tracking. Experimental results show that satisfactory tracking performance can be achieved on both healthy subjects and stroke subjects (with the tracking root mean square error (RMSE) &lt; 0.05 rad). Meanwhile, the controller can output an actuator\u2013finger model for each individual subject (with the learning error RMSE &lt; 0.06 rad), which provides information on the condition of the finger and, thus, has further potential clinical application.<\/jats:p>","DOI":"10.1177\/0278364919873379","type":"journal-article","created":{"date-parts":[[2019,8,31]],"date-time":"2019-08-31T01:40:13Z","timestamp":1567215613000},"page":"256-276","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":83,"title":["Model-based online learning and adaptive control for a \u201chuman-wearable soft robot\u201d integrated system"],"prefix":"10.1177","volume":"40","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-6555-9938","authenticated-orcid":false,"given":"Zhi Qiang","family":"Tang","sequence":"first","affiliation":[{"name":"Department of Biomedical Engineering, The Chinese University of Hong Kong, Shatin, Hong Kong SAR"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ho Lam","family":"Heung","sequence":"additional","affiliation":[{"name":"Department of Biomedical Engineering, The Chinese University of Hong Kong, Shatin, Hong Kong SAR"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Kai Yu","family":"Tong","sequence":"additional","affiliation":[{"name":"Department of Biomedical Engineering, The Chinese University of Hong Kong, Shatin, Hong Kong SAR"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zheng","family":"Li","sequence":"additional","affiliation":[{"name":"Department of Surgery and the Chow Yuk Ho Technology Centre for Innovative Medicine, The Chinese University of Hong Kong, Shatin, Hong Kong SAR"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2019,8,30]]},"reference":[{"key":"bibr1-0278364919873379","first-page":"60","volume":"9","author":"Amirabdollahian F","year":"2001","journal-title":"Integration of Assistive Technology in the Information Age"},{"key":"bibr2-0278364919873379","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2002.1014233"},{"key":"bibr3-0278364919873379","doi-asserted-by":"publisher","DOI":"10.3233\/NRE-2008-23304"},{"key":"bibr4-0278364919873379","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pone.0128328"},{"key":"bibr5-0278364919873379","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.1984.272176"},{"key":"bibr6-0278364919873379","doi-asserted-by":"publisher","DOI":"10.1126\/scitranslmed.aai9084"},{"key":"bibr7-0278364919873379","doi-asserted-by":"publisher","DOI":"10.1097\/WCO.0b013e32833e99a4"},{"key":"bibr8-0278364919873379","doi-asserted-by":"publisher","DOI":"10.1109\/ICVR.2008.4625154"},{"key":"bibr9-0278364919873379","doi-asserted-by":"publisher","DOI":"10.1016\/j.ijnonlinmec.2007.12.020"},{"issue":"9","key":"bibr10-0278364919873379","first-page":"31","volume":"2","author":"Best CM","year":"2016","journal-title":"IEEE Robotics and Automation Magazine"},{"key":"bibr11-0278364919873379","author":"Blana D","year":"2019","journal-title":"bioRxiv"},{"key":"bibr12-0278364919873379","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2012.6225035"},{"key":"bibr13-0278364919873379","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2007.906248"},{"key":"bibr14-0278364919873379","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2005.847335"},{"key":"bibr15-0278364919873379","doi-asserted-by":"publisher","DOI":"10.1177\/0278364913518998"},{"key":"bibr16-0278364919873379","doi-asserted-by":"publisher","DOI":"10.1007\/978-94-007-7485-8_15"},{"key":"bibr17-0278364919873379","doi-asserted-by":"publisher","DOI":"10.1016\/j.conengprac.2007.11.003"},{"key":"bibr18-0278364919873379","doi-asserted-by":"publisher","DOI":"10.1177\/0278364915592961"},{"key":"bibr19-0278364919873379","doi-asserted-by":"crossref","unstructured":"Dempster WT (1955) Space requirements of the seated operator, geometrical, kinematic, and mechanical aspects of the body with special reference to the limbs. 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