{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,27]],"date-time":"2025-10-27T16:21:18Z","timestamp":1761582078433,"version":"3.38.0"},"reference-count":49,"publisher":"SAGE Publications","issue":"9","license":[{"start":{"date-parts":[[2021,4,14]],"date-time":"2021-04-14T00:00:00Z","timestamp":1618358400000},"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":[[2021,10]]},"abstract":"<jats:p> Exoskeleton robot\u2013based neurorehabilitation has received a lot of attention recently due to positive evidence supporting its ability to provide different forms of physical therapy and in helping evaluate the patient recovery rate accurately. The performance of exoskeleton robot\u2013based physical therapy depends on the accuracy of the motion control system. While the computed torque control scheme based on inverse dynamics is ideal from a theoretical perspective, the stability and tracking performance strongly depends on the model accuracy. Expecting a deterministic payload for a rehabilitation robot is impractical, which makes the computed torque controller unrealistic for such an application. In this article, a 7-degree-of-freedom human lower extremity dynamic model is developed using the Lagrange method and a novel Model Reference Computed Torque Controller is utilized for control. The computed torque controller is used to estimate the joint torque requirements for tracking a trajectory. Calculated joint torques are applied to a similarly structured plant with different parameters. The deviation of the plant from the model is calculated. A proportional\u2013integral\u2013derivative controller is employed to force the plant to behave like the robot model. A realistic friction model is incorporated to simulate joint friction in the plant. The stability and tracking performance of the control system is presented for sequential as well as simultaneous joint movements. To verify the robustness of the developed controller, analysis of variance statistical technique is used. <\/jats:p>","DOI":"10.1177\/09596518211009032","type":"journal-article","created":{"date-parts":[[2021,4,15]],"date-time":"2021-04-15T05:13:24Z","timestamp":1618463604000},"page":"1615-1637","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":8,"title":["Development of a model reference computed torque controller for a human lower extremity exoskeleton robot"],"prefix":"10.1177","volume":"235","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-0664-757X","authenticated-orcid":false,"given":"SK","family":"Hasan","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering, University of Wisconsin\u2013Milwaukee, Milwaukee, WI, USA"}]},{"given":"Anoop K","family":"Dhingra","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, University of Wisconsin\u2013Milwaukee, Milwaukee, WI, USA"}]}],"member":"179","published-online":{"date-parts":[[2021,4,14]]},"reference":[{"volume-title":"World report on disability","year":"2011","author":"World Health Organization and World Bank","key":"bibr1-09596518211009032"},{"key":"bibr2-09596518211009032","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2015.04.005"},{"key":"bibr3-09596518211009032","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2006.878550"},{"key":"bibr4-09596518211009032","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2009.2019786"},{"key":"bibr5-09596518211009032","first-page":"693","volume":"37","author":"Colombo G","year":"2000","journal-title":"J Rehabil Res Dev"},{"first-page":"536","volume-title":"Proceedings of the 9th international conference on rehabilitation robotics 2005 (ICORR 2005)","author":"Bernhardt M","key":"bibr6-09596518211009032"},{"key":"bibr7-09596518211009032","doi-asserted-by":"publisher","DOI":"10.1109\/TNSRE.2007.903919"},{"first-page":"496","volume-title":"Proceedings of the 9th international conference on rehabilitation robotics 2005 (ICORR 2005)","author":"Veneman JF","key":"bibr8-09596518211009032"},{"first-page":"401","volume-title":"Proceedings of the 2007 IEEE 10th international conference on rehabilitation robotics","author":"Banala SK","key":"bibr9-09596518211009032"},{"key":"bibr10-09596518211009032","doi-asserted-by":"publisher","DOI":"10.1109\/TNSRE.2007.903930"},{"key":"bibr11-09596518211009032","doi-asserted-by":"publisher","DOI":"10.1007\/s00221-010-2187-5"},{"first-page":"4986","volume-title":"Proceedings of the 2012 IEEE international conference on robotics and automation","author":"Stegall P","key":"bibr12-09596518211009032"},{"first-page":"491","volume-title":"Proceedings of the RO-MAN 2004 13th IEEE international workshop on robot and human interactive communication (IEEE Catalog No. 04TH 8759)","author":"Kawamoto H","key":"bibr13-09596518211009032"},{"key":"bibr14-09596518211009032","doi-asserted-by":"publisher","DOI":"10.1163\/156855307781746061"},{"first-page":"5038","volume-title":"Proceedings of the 2009 annual international conference of the IEEE Engineering in Medicine and Biology Society","author":"Kawamoto H","key":"bibr15-09596518211009032"},{"key":"bibr16-09596518211009032","doi-asserted-by":"publisher","DOI":"10.1179\/2045772312Y.0000000003"},{"key":"bibr17-09596518211009032","doi-asserted-by":"publisher","DOI":"10.1097\/PHM.0b013e318269d9a3"},{"key":"bibr18-09596518211009032","doi-asserted-by":"publisher","DOI":"10.1186\/s10033-019-0389-8"},{"key":"bibr19-09596518211009032","doi-asserted-by":"crossref","unstructured":"Strickland E. 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