{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T07:16:42Z","timestamp":1777706202915,"version":"3.51.4"},"reference-count":43,"publisher":"SAGE Publications","issue":"3","license":[{"start":{"date-parts":[[2025,7,8]],"date-time":"2025-07-08T00:00:00Z","timestamp":1751932800000},"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":["Journal of Intelligent &amp; Fuzzy Systems: Applications in Engineering and Technology"],"published-print":{"date-parts":[[2026,3]]},"abstract":"<jats:p>\n                    In this manuscript, a design method, based on Linear Matrix Inequalities (LMIs), is proposed to design a fuzzy regulator and a fuzzy observer for a Takagi-Sugeno fuzzy mathematical model of the knee joint angle control for paraplegic patients, with norm-bounded uncertainties on the system parameters. The authors present a controller design for the Takagi-Sugeno nonlinear system with the aim of controlling the position of the leg of a paraplegic patient and designing an observer for the state variables, so that the estimated variables are used on feedback, instead of the real variables, that are not available. The operation angle is 30\n                    <jats:inline-formula>\n                      <mml:math xmlns:mml=\"http:\/\/www.w3.org\/1998\/Math\/MathML\" display=\"inline\" overflow=\"scroll\">\n                        <mml:mo>\u2218<\/mml:mo>\n                      <\/mml:math>\n                    <\/jats:inline-formula>\n                    and the angle variation\n                    <jats:inline-formula>\n                      <mml:math xmlns:mml=\"http:\/\/www.w3.org\/1998\/Math\/MathML\" display=\"inline\" overflow=\"scroll\">\n                        <mml:msub>\n                          <mml:mi>x<\/mml:mi>\n                          <mml:mn>1<\/mml:mn>\n                        <\/mml:msub>\n                      <\/mml:math>\n                    <\/jats:inline-formula>\n                    in the range of the nonlinear region varies from 0\n                    <jats:inline-formula>\n                      <mml:math xmlns:mml=\"http:\/\/www.w3.org\/1998\/Math\/MathML\" display=\"inline\" overflow=\"scroll\">\n                        <mml:mo>\u2218<\/mml:mo>\n                      <\/mml:math>\n                    <\/jats:inline-formula>\n                    to 60\n                    <jats:inline-formula>\n                      <mml:math xmlns:mml=\"http:\/\/www.w3.org\/1998\/Math\/MathML\" display=\"inline\" overflow=\"scroll\">\n                        <mml:mo>\u2218<\/mml:mo>\n                      <\/mml:math>\n                    <\/jats:inline-formula>\n                    . The model is simulated in the Matlab environment, using the numerical parameters available in the literature.\n                  <\/jats:p>","DOI":"10.1177\/18758967251356156","type":"journal-article","created":{"date-parts":[[2025,7,8]],"date-time":"2025-07-08T04:07:02Z","timestamp":1751947622000},"page":"631-656","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":0,"title":["Design of Takagi-Sugeno Fuzzy Regulator and Observer for Knee Joint Angle Control for a Paraplegic Patient Considering Norm-Bounded Uncertainties"],"prefix":"10.1177","volume":"50","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-3786-3059","authenticated-orcid":false,"given":"Ruberlei","family":"Gaino","sequence":"first","affiliation":[{"name":"State University of Londrina"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9902-8983","authenticated-orcid":false,"given":"M\u00e1rcio Roberto","family":"Covacic","sequence":"additional","affiliation":[{"name":"State University of Londrina"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2025,7,8]]},"reference":[{"key":"e_1_3_3_2_1","unstructured":"Biazeto A. R. (2015). Controladores de Movimento da Articula\u00e7\u00e3o do Joelho de Parapl\u00e9gico com PI PID e Fuzzy Takagi-Sugeno [Msc thesis]. Universidade Estadual de Londrina Londrina Brazil. in Portuguese."},{"key":"e_1_3_3_3_1","doi-asserted-by":"publisher","DOI":"10.1137\/1.9781611970777"},{"key":"e_1_3_3_4_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.sysconle.2012.01.001"},{"key":"e_1_3_3_5_1","doi-asserted-by":"publisher","DOI":"10.1155\/2020\/4624657"},{"key":"e_1_3_3_6_1","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.2005.851475"},{"key":"e_1_3_3_7_1","doi-asserted-by":"publisher","DOI":"10.1155\/2015\/736246"},{"key":"e_1_3_3_8_1","doi-asserted-by":"publisher","DOI":"10.1201\/b15060"},{"key":"e_1_3_3_9_1","doi-asserted-by":"publisher","DOI":"10.1109\/86.867876"},{"key":"e_1_3_3_10_1","volume-title":"LMI control toolbox - for use with matlab","author":"Gahinet P.","year":"1995","unstructured":"Gahinet P., Nemirovski A., Laub A. J., Chilali M. (1995). LMI control toolbox - for use with matlab.\u00a0Natick, MA: The Math Works, Inc."},{"key":"e_1_3_3_11_1","unstructured":"Gaino R. (2009). Controle de movimentos de pacientes parapl\u00e9gicos utilizando modelos Fuzzy T-S [Phd thesis]. FEIS-UNESP Ilha Solteira Brasil. in Portuguese."},{"key":"e_1_3_3_12_1","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2020.2971908"},{"key":"e_1_3_3_13_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.fss.2016.06.005"},{"key":"e_1_3_3_14_1","doi-asserted-by":"publisher","DOI":"10.22533\/at.ed.3174192401079"},{"key":"e_1_3_3_15_1","unstructured":"Gaino R. Teixeira M. C. M. Cardim R. de Carvalho A. A. Assun\u00e7\u00e3o E. Sanches M. A. A. (2008). Controle n\u00e3o-linear Takagi-Sugeno do movimento de parapl\u00e9gicos utilizando aceler\u00f4metros. In Anais do XXI Congresso brasileiro de engenharia Biom\u00e9dica (pp. 1254\u20131257) Juiz de Fora Brazil. in Portuguese."},{"key":"e_1_3_3_16_1","unstructured":"Gaino R. Teixeira M. C. M. Carvalho A. A. Assun\u00e7\u00e3o E. Silva T. I. (2007). Reguladores e observadores fuzzy takagi-sugeno para variar o \u00c2ngulo da articula\u00e7\u00e3o do joelho de um paciente parapl\u00e9gico. In VIII Simp\u00f3sio Brasileiro de Automa\u00e7\u00e3o Inteligente (pp. 1\u20136) Florian\u00f3polis Brazil. in Portuguese."},{"key":"e_1_3_3_17_1","doi-asserted-by":"crossref","first-page":"1","DOI":"10.4322\/rbeb.2011.006","article-title":"Realimenta\u00e7\u00e3o derivativa e modelo fuzzy takagi-sugeno para controle da articula\u00e7\u00e3o do joelho de pacientes parapl\u00e9gicos com uso de aceler\u00f4metros","volume":"27","author":"Gaino R.","year":"2011","unstructured":"Gaino R., Teixeira M. C. M., de Carvalho A. A., Assun\u00e7\u00e3o E., Cardim R., Sanches M. A. A., Covacic M. R. (2011). Realimenta\u00e7\u00e3o derivativa e modelo fuzzy takagi-sugeno para controle da articula\u00e7\u00e3o do joelho de pacientes parapl\u00e9gicos com uso de aceler\u00f4metros. Revista Brasileira de Engenharia Biom\u00e9dica, 27, 1\u201312.","journal-title":"Revista Brasileira de Engenharia Biom\u00e9dica"},{"issue":"126","key":"e_1_3_3_18_1","first-page":"136","article-title":"The heat of shortening and the dynamic constant of muscle","author":"Hill A. V.","year":"1938","unstructured":"Hill A. V. (1938). The heat of shortening and the dynamic constant of muscle. Proceedings of the Royal Society, B(126), 136\u2013195.","journal-title":"Proceedings of the Royal Society"},{"key":"e_1_3_3_19_1","doi-asserted-by":"publisher","DOI":"10.1109\/TFUZZ.2024.3370995"},{"key":"e_1_3_3_20_1","doi-asserted-by":"publisher","DOI":"10.22533\/at.ed.317522503025"},{"key":"e_1_3_3_21_1","doi-asserted-by":"publisher","DOI":"10.1109\/TFUZZ.2006.876725"},{"key":"e_1_3_3_22_1","doi-asserted-by":"publisher","DOI":"10.1007\/s00034-009-9133-4"},{"key":"e_1_3_3_23_1","doi-asserted-by":"publisher","DOI":"10.1109\/91.660807"},{"key":"e_1_3_3_24_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.bspc.2021.102445"},{"key":"e_1_3_3_25_1","doi-asserted-by":"publisher","DOI":"10.1111\/ner.13126"},{"key":"e_1_3_3_26_1","unstructured":"Nunes W. R. B. M. (2019). A new dynamic model applied to electrically stimulated lower limbs and switched control design subject to actuator saturation and non-ideal conditions [FEIS-UNESP Phd thesis]. Ilha Solteira Brasil."},{"key":"e_1_3_3_27_1","volume-title":"Modern control engineering","author":"Ogata K.","year":"1997","unstructured":"Ogata K. (1997). Modern control engineering.\u00a0New Jersey: Prentice Hall."},{"key":"e_1_3_3_28_1","volume-title":"Biomimicry for optimization, control, and automation","author":"Passino K. M.","year":"2005","unstructured":"Passino K. M. (2005). Biomimicry for optimization, control, and automation.\u00a0London: Springer London ."},{"key":"e_1_3_3_29_1","doi-asserted-by":"publisher","DOI":"10.3182\/20130902-3-CN-3020.00067"},{"key":"e_1_3_3_30_1","doi-asserted-by":"publisher","DOI":"10.1088\/0967-3334\/27\/4\/007"},{"issue":"126963","key":"e_1_3_3_31_1","first-page":"1","article-title":"Event-triggered critic learning impedance control of lower limb exoskeleton robots in interactive environments","volume":"564","author":"Sun Y.","year":"2024","unstructured":"Sun Y., Peng Z., Hu J., Ghosh B. K. (2024). Event-triggered critic learning impedance control of lower limb exoskeleton robots in interactive environments. Neurocomputing, 564(126963), 1\u201313.","journal-title":"Neurocomputing"},{"key":"e_1_3_3_32_1","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.1985.6313399"},{"key":"e_1_3_3_33_1","doi-asserted-by":"publisher","DOI":"10.1109\/91.669023"},{"key":"e_1_3_3_34_1","doi-asserted-by":"publisher","DOI":"10.1109\/91.940966"},{"issue":"3","key":"e_1_3_3_35_1","first-page":"118","article-title":"Design of a fuzzy takagi-sugeno controller to vary the joint knee angle of paraplegic patients","volume":"4234","author":"Teixeira M. C. M.","unstructured":"Teixeira M. C. M., Deaecto G. S., Gaino R., Assun\u00e7\u00e3o E., Carvalho A. A., Farias U. C. (2006a). Design of a fuzzy takagi-sugeno controller to vary the joint knee angle of paraplegic patients. Lecture Notes in Computer Science Springer Berlin\/Heidelberg, 4234(3), 118\u2013126.","journal-title":"Lecture Notes in Computer Science Springer Berlin\/Heidelberg"},{"key":"e_1_3_3_36_1","unstructured":"Teixeira M. C. M. Deaecto G. S. Gaino R. Assun\u00e7\u00e3o E. Carvalho A. A. Farias U. C. (2006b). Projeto de um controlador fuzzy Takagi-Sugeno para Variar o \u00e2ngulo da articula\u00e7\u00e3o do Joelho. In XVI Congresso Brasileiro de Autom\u00e1tica (pp. 2287\u20132292) Salvador Brazil. in Portuguese."},{"key":"e_1_3_3_37_1","doi-asserted-by":"publisher","DOI":"10.1109\/91.755395"},{"key":"e_1_3_3_38_1","volume-title":"Fuzzy and neural approaches in engineering","author":"Tsoukalas L. H.","year":"1997","unstructured":"Tsoukalas L. H., Uhrig R. E., Zadeh L. A. (1997). Fuzzy and neural approaches in engineering.\u00a0Nashville, TN: John Wiley & Sons."},{"key":"e_1_3_3_39_1","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2023.3288188"},{"key":"e_1_3_3_40_1","volume-title":"Biomechanics and motor control of human movement","author":"Winter D. A.","year":"2005","unstructured":"Winter D. A. (2005). Biomechanics and motor control of human movement.\u00a0New York: John Wiley Sons, Inc."},{"issue":"2432","key":"e_1_3_3_41_1","first-page":"1","article-title":"Autonomous uav navigation with adaptive control based on deep reinforcement learning","volume":"13","author":"Yin Y.","year":"2024","unstructured":"Yin Y., Wang Z., Zheng L., Su Q., Guo Y. (2024). Autonomous uav navigation with adaptive control based on deep reinforcement learning. Electronics, 13(2432), 1\u201319.","journal-title":"Electronics"},{"key":"e_1_3_3_42_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.jmapro.2024.01.024"},{"key":"e_1_3_3_43_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.isatra.2024.08.029"},{"issue":"3","key":"e_1_3_3_44_1","first-page":"235","article-title":"Intelligent robot path planning and navigation based on reinforcement learning and adaptive control","volume":"10","author":"Zhu C.","year":"2023","unstructured":"Zhu C. (2023). Intelligent robot path planning and navigation based on reinforcement learning and adaptive control. Journal of Logistics, Informatics and Service Science, 10(3), 235\u2013248.","journal-title":"Journal of Logistics, Informatics and Service Science"}],"container-title":["Journal of Intelligent &amp; Fuzzy Systems: Applications in Engineering and Technology"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/18758967251356156","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/full-xml\/10.1177\/18758967251356156","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/18758967251356156","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T09:46:18Z","timestamp":1777455978000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/18758967251356156"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,7,8]]},"references-count":43,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2026,3]]}},"alternative-id":["10.1177\/18758967251356156"],"URL":"https:\/\/doi.org\/10.1177\/18758967251356156","relation":{},"ISSN":["1064-1246","1875-8967"],"issn-type":[{"value":"1064-1246","type":"print"},{"value":"1875-8967","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,7,8]]}}}