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Hence, the authors propose an approach to obtain stability boundaries of the admittance controller parameters so that a compliant interaction can be ensured. As the zero-order hold function adds nonlinear exponential terms to the continuous transfer function of the system, a discrete closed-loop root-locus analysis is presented describing how the changes in patients\u2019 characteristics and system parameters shift the stability boundaries. The reasonable matches between the analytical and experimental stability boundaries demonstrate that the presented approach is reliable. <\/jats:p>","DOI":"10.1177\/0959651816660219","type":"journal-article","created":{"date-parts":[[2016,7,30]],"date-time":"2016-07-30T00:28:12Z","timestamp":1469838492000},"page":"943-961","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":1,"title":["Stability properties of a pneumatic-actuated rehabilitation system"],"prefix":"10.1177","volume":"230","author":[{"given":"Morteza","family":"Fathi","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering, Young Researchers and Elite Club, Hashtgerd Branch, Islamic Azad University, Alborz, Iran"}]},{"given":"Farid","family":"Najafi","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Faculty of Engineering, University of Guilan, Rasht, Iran"}]}],"member":"179","published-online":{"date-parts":[[2016,8,5]]},"reference":[{"key":"bibr1-0959651816660219","doi-asserted-by":"publisher","DOI":"10.1115\/1.2745850"},{"first-page":"2697","volume-title":"Proceedings of the IEEE international conference on robotics and automation","author":"Shen X","key":"bibr2-0959651816660219"},{"key":"bibr3-0959651816660219","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2013.2294970"},{"first-page":"641","volume-title":"Proceedings of the IEEE\/SICE international symposium on system integration (SII)","author":"Osman K","key":"bibr4-0959651816660219"},{"first-page":"1089","volume-title":"Proceedings of the European control conference (ECC)","author":"Abry F","key":"bibr5-0959651816660219"},{"first-page":"987","volume-title":"Proceedings of the IEEE international conference on robotics and automation","author":"Zhu Y","key":"bibr6-0959651816660219"},{"key":"bibr7-0959651816660219","doi-asserted-by":"publisher","DOI":"10.1109\/TNSRE.2005.848628"},{"key":"bibr8-0959651816660219","doi-asserted-by":"publisher","DOI":"10.1016\/j.conengprac.2004.03.011"},{"key":"bibr9-0959651816660219","first-page":"1185","volume-title":"Proceedings of the IEEE international conference on robotics and automation","volume":"2","author":"Lawrence DA."},{"key":"bibr10-0959651816660219","doi-asserted-by":"publisher","DOI":"10.1002\/(SICI)1097-4563(199701)14:1<37::AID-ROB4>3.0.CO;2-V"},{"key":"bibr11-0959651816660219","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2006.875466"},{"key":"bibr12-0959651816660219","doi-asserted-by":"publisher","DOI":"10.1115\/1.2837430"},{"first-page":"874","volume-title":"Proceedings of the IEEE international conference on robotics and automation","author":"Le MQ","key":"bibr13-0959651816660219"},{"key":"bibr14-0959651816660219","doi-asserted-by":"publisher","DOI":"10.1177\/0278364909103787"},{"key":"bibr15-0959651816660219","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2007.912127"},{"first-page":"3049","volume-title":"Proceedings of the IEEE\/RSJ international conference on intelligent robots and systems (IROS)","author":"Sugimoto Y","key":"bibr16-0959651816660219"},{"key":"bibr17-0959651816660219","doi-asserted-by":"publisher","DOI":"10.1115\/1.1591810"},{"key":"bibr18-0959651816660219","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2013.2280956"},{"key":"bibr19-0959651816660219","doi-asserted-by":"publisher","DOI":"10.1007\/s00170-008-1635-x"},{"key":"bibr20-0959651816660219","doi-asserted-by":"publisher","DOI":"10.1115\/1.1286336"},{"issue":"13","key":"bibr21-0959651816660219","first-page":"200","volume":"13","author":"Fathi M","year":"2013","journal-title":"Modares Mech Eng"},{"key":"bibr22-0959651816660219","unstructured":"Ogatra K. 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