{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,4]],"date-time":"2026-05-04T20:39:00Z","timestamp":1777927140681,"version":"3.51.4"},"reference-count":15,"publisher":"SAGE Publications","issue":"7","license":[{"start":{"date-parts":[[2018,3,28]],"date-time":"2018-03-28T00:00:00Z","timestamp":1522195200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering"],"published-print":{"date-parts":[[2018,8]]},"abstract":"<jats:p>This article shows the development of an exoskeleton for human joint. The exoskeleton proposed was developed for rehabilitating individuals who have suffered injuries at their shoulders, by rehabilitation exercises. The exoskeleton has special characteristics to deal with the 5 degrees of freedom of the human shoulder. The dynamic model results in the following form: [Formula: see text], where [Formula: see text] and [Formula: see text] are state\u2019s vector, torque\u2019s vector, a matrix function and a vector function, respectively. Therefore, we applied four different control laws, among which stand two robust controls (adaptive sliding modes and proportional\u2013derivative with adaptive gravity compensation). The adaptive controller properties allow the exoskeleton to adapt to different humans with different parameters such as size, length, weight and so on that, in mathematical terms, is represented as a mechanical system with uncertainties.<\/jats:p>","DOI":"10.1177\/0959651818758866","type":"journal-article","created":{"date-parts":[[2018,3,28]],"date-time":"2018-03-28T09:34:02Z","timestamp":1522229642000},"page":"797-806","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":12,"title":["Robust controls for upper limb exoskeleton, real-time results"],"prefix":"10.1177","volume":"232","author":[{"given":"Yukio","family":"Rosales Luengas","sequence":"first","affiliation":[{"name":"Centro de Investigacion y de Estudios Avanzados del Instituto Polit\u00e9cnico Nacional, Mexico, Mexico"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ricardo","family":"L\u00f3pez-Guti\u00e9rrez","sequence":"additional","affiliation":[{"name":"Centro de Investigacion y de Estudios Avanzados del Instituto Polit\u00e9cnico Nacional, Mexico, Mexico"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Sergio","family":"Salazar","sequence":"additional","affiliation":[{"name":"Centro de Investigacion y de Estudios Avanzados del Instituto Polit\u00e9cnico Nacional, Mexico, Mexico"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Rogelio","family":"Lozano","sequence":"additional","affiliation":[{"name":"Universite de Technologie de Compiegne, Compiegne, Mexico"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2018,3,28]]},"reference":[{"key":"bibr1-0959651818758866","doi-asserted-by":"publisher","DOI":"10.3844\/jcssp.2010.1272.1275"},{"key":"bibr2-0959651818758866","doi-asserted-by":"publisher","DOI":"10.1016\/j.medengphy.2011.10.004"},{"key":"bibr3-0959651818758866","doi-asserted-by":"publisher","DOI":"10.1016\/j.medengphy.2016.04.004"},{"key":"bibr4-0959651818758866","doi-asserted-by":"publisher","DOI":"10.1109\/ICORR.2005.1501096"},{"key":"bibr5-0959651818758866","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2005.1570815"},{"key":"bibr6-0959651818758866","volume-title":"Monograf\u00edas medico-quirurgicas del aparato locomotor: El hombre","author":"Navarro A","year":"1997"},{"key":"bibr7-0959651818758866","volume-title":"Tecnicas de balance muscular","author":"Hislop H","year":"2003","edition":"7"},{"key":"bibr8-0959651818758866","volume-title":"Control of robot manipulators in joint space","author":"Kelly R","year":"2005"},{"key":"bibr9-0959651818758866","doi-asserted-by":"publisher","DOI":"10.1109\/70.210803"},{"key":"bibr10-0959651818758866","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2012.09.008"},{"key":"bibr11-0959651818758866","volume-title":"Human factors engineering\u2014design of medical devices","author":"ANSI\/AAMI HE75","year":"2009"},{"key":"bibr12-0959651818758866","doi-asserted-by":"publisher","DOI":"10.1109\/BIOROB.2006.1639189"},{"key":"bibr13-0959651818758866","doi-asserted-by":"publisher","DOI":"10.1109\/WHC.2005.15"},{"key":"bibr14-0959651818758866","volume-title":"Mechanical design of a robotic arm exoskeleton for shoulder rehabilitation","author":"Liszka M.","year":"2006"},{"key":"bibr15-0959651818758866","doi-asserted-by":"publisher","DOI":"10.1109\/70.86088"}],"container-title":["Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0959651818758866","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/full-xml\/10.1177\/0959651818758866","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0959651818758866","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,5,1]],"date-time":"2026-05-01T22:35:59Z","timestamp":1777674959000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0959651818758866"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2018,3,28]]},"references-count":15,"journal-issue":{"issue":"7","published-print":{"date-parts":[[2018,8]]}},"alternative-id":["10.1177\/0959651818758866"],"URL":"https:\/\/doi.org\/10.1177\/0959651818758866","relation":{},"ISSN":["0959-6518","2041-3041"],"issn-type":[{"value":"0959-6518","type":"print"},{"value":"2041-3041","type":"electronic"}],"subject":[],"published":{"date-parts":[[2018,3,28]]}}}