{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,10]],"date-time":"2026-06-10T16:11:57Z","timestamp":1781107917287,"version":"3.54.1"},"reference-count":54,"publisher":"MDPI AG","issue":"1","license":[{"start":{"date-parts":[[2017,12,28]],"date-time":"2017-12-28T00:00:00Z","timestamp":1514419200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["51675389"],"award-info":[{"award-number":["51675389"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["51705381"],"award-info":[{"award-number":["51705381"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["51475342"],"award-info":[{"award-number":["51475342"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>A rehabilitation robot plays an important role in relieving the therapists\u2019 burden and helping patients with ankle injuries to perform more accurate and effective rehabilitation training. However, a majority of current ankle rehabilitation robots are rigid and have drawbacks in terms of complex structure, poor flexibility and lack of safety. Taking advantages of pneumatic muscles\u2019 good flexibility and light weight, we developed a novel two degrees of freedom (2-DOF) parallel compliant ankle rehabilitation robot actuated by pneumatic muscles (PMs). To solve the PM\u2019s nonlinear characteristics during operation and to tackle the human-robot uncertainties in rehabilitation, an adaptive backstepping sliding mode control (ABS-SMC) method is proposed in this paper. The human-robot external disturbance can be estimated by an observer, who is then used to adjust the robot output to accommodate external changes. The system stability is guaranteed by the Lyapunov stability theorem. Experimental results on the compliant ankle rehabilitation robot show that the proposed ABS-SMC is able to estimate the external disturbance online and adjust the control output in real time during operation, resulting in a higher trajectory tracking accuracy and better response performance especially in dynamic conditions.<\/jats:p>","DOI":"10.3390\/s18010066","type":"journal-article","created":{"date-parts":[[2017,12,28]],"date-time":"2017-12-28T11:24:33Z","timestamp":1514460273000},"page":"66","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":41,"title":["Disturbance-Estimated Adaptive Backstepping Sliding Mode Control of a Pneumatic Muscles-Driven Ankle Rehabilitation Robot"],"prefix":"10.3390","volume":"18","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-4283-2289","authenticated-orcid":false,"given":"Qingsong","family":"Ai","sequence":"first","affiliation":[{"name":"School of Information Engineering, Wuhan University of Technology, Wuhan 430070, China"},{"name":"Key Laboratory of Fiber Optic Sensing Technology and Information Processing, Ministry of Education, Wuhan University of Technology, Wuhan 430070, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Chengxiang","family":"Zhu","sequence":"additional","affiliation":[{"name":"School of Information Engineering, Wuhan University of Technology, Wuhan 430070, China"},{"name":"Key Laboratory of Fiber Optic Sensing Technology and Information Processing, Ministry of Education, Wuhan University of Technology, Wuhan 430070, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jie","family":"Zuo","sequence":"additional","affiliation":[{"name":"School of Information Engineering, Wuhan University of Technology, Wuhan 430070, China"},{"name":"Key Laboratory of Fiber Optic Sensing Technology and Information Processing, Ministry of Education, Wuhan University of Technology, Wuhan 430070, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Wei","family":"Meng","sequence":"additional","affiliation":[{"name":"School of Information Engineering, Wuhan University of Technology, Wuhan 430070, China"},{"name":"Key Laboratory of Fiber Optic Sensing Technology and Information Processing, Ministry of Education, Wuhan University of Technology, Wuhan 430070, China"},{"name":"School of Electronic and Electrical Engineering, University of Leeds, Leeds LS2 9JT, UK"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Quan","family":"Liu","sequence":"additional","affiliation":[{"name":"School of Information Engineering, Wuhan University of Technology, Wuhan 430070, China"},{"name":"Key Laboratory of Fiber Optic Sensing Technology and Information Processing, Ministry of Education, Wuhan University of Technology, Wuhan 430070, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Sheng","family":"Xie","sequence":"additional","affiliation":[{"name":"School of Information Engineering, Wuhan University of Technology, Wuhan 430070, China"},{"name":"School of Electronic and Electrical Engineering, University of Leeds, Leeds LS2 9JT, UK"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ming","family":"Yang","sequence":"additional","affiliation":[{"name":"Faculty of Engineering, Environment and Computing, Coventry University, Coventry CV1 5FB, UK"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2017,12,28]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"30","DOI":"10.1186\/1743-0003-10-30","article-title":"Effectiveness of robot-assisted therapy on ankle rehabilitation\u2014A systematic review","volume":"10","author":"Zhang","year":"2013","journal-title":"J. Neuroeng. Rehabil."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"24","DOI":"10.1515\/bhk-2016-0004","article-title":"Influence of a nine-day alpine ski training programme on the postural stability of people with different levels of skills","volume":"8","author":"Staniszewski","year":"2016","journal-title":"Biomed. Hum. Kinet."},{"key":"ref_3","first-page":"73","article-title":"Anatomical and magnetic resonance imaging study of the medial collateral ligament of the ankle joint","volume":"52","author":"Omar","year":"2016","journal-title":"Alex. J. Med."},{"key":"ref_4","first-page":"364","article-title":"Functional anatomy, pathomechanics, and pathophysiology of lateral ankle instability","volume":"37","author":"Hertel","year":"2002","journal-title":"J. Athl. Train."},{"key":"ref_5","doi-asserted-by":"crossref","unstructured":"Farulla, G.A., Pianu, D., Cempini, M., Cortese, M., Russo, L.O., Indaco, M., Nerino, R., Chimienti, A., Oddo, C.M., and Vitiello, N. (2016). Vision-based pose estimation for robot-mediated hand telerehabilitation. Sensors, 16.","DOI":"10.3390\/s16020208"},{"key":"ref_6","doi-asserted-by":"crossref","unstructured":"Ferraresi, C., and Quaglia, G. (2018). Path\u2019s slicing analysis as a therapist\u2019s intervention tool for robotic rehabilitation. Advances in Service and Industrial Robotics, Proceedings of the 26th International Conference on Robotics in Alpe-Adria-Danube Region (RAAD 2017), Turin, Italy, 21\u201323 June 2017, Springer International Publishing.","DOI":"10.1007\/978-3-319-61276-8"},{"key":"ref_7","doi-asserted-by":"crossref","unstructured":"Borboni, A., Maddalena, M., Rastegarpanah, A., Saadat, M., and Aggogeri, F. (2016, January 15\u201318). Kinematic performance enhancement of wheelchair-mounted robotic arm by adding a linear drive. Proceedings of the IEEE International Symposium on Medical Measurements and Applications, Benevento, Italy.","DOI":"10.1109\/MeMeA.2016.7533770"},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"167","DOI":"10.1007\/s13246-013-0191-3","article-title":"Gestures recognition based on wavelet and LLE","volume":"36","author":"Ai","year":"2013","journal-title":"Australas. Phys. Eng. Sci. Med."},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"173","DOI":"10.1109\/TMECH.2016.2618771","article-title":"Robust iterative feedback tuning control of a compliant rehabilitation robot for repetitive ankle training","volume":"22","author":"Meng","year":"2017","journal-title":"IEEE\/ASME Trans. Mechatron."},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"132","DOI":"10.1016\/j.mechatronics.2015.04.005","article-title":"Recent development of mechanisms and control strategies for robot-assisted lower limb rehabilitation","volume":"31","author":"Meng","year":"2015","journal-title":"Mechatronics"},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"1450004","DOI":"10.1142\/S0219843614500042","article-title":"Fuzzy sliding mode control of a multi-DOF parallel robot in rehabilitation environment","volume":"11","author":"Liu","year":"2014","journal-title":"Int. J. Humanoid Robot."},{"key":"ref_12","doi-asserted-by":"crossref","unstructured":"Rastegarpanah, A., Saadat, M., and Borboni, A. (2016). Parallel robot for lower limb rehabilitation exercises. Appl. Bionics Biomech., 2016.","DOI":"10.1155\/2016\/8584735"},{"key":"ref_13","doi-asserted-by":"crossref","unstructured":"Rastegarpanah, A., Saadat, M., Borboni, A., and Stolkin, R. (2016, January 18\u201320). Application of a parallel robot in lower limb rehabilitation: A brief capability study. Proceedings of the 1st International Conference on Robotics and Automation for Humanitarian Applications (RAHA 2016), Kerala, India.","DOI":"10.1109\/RAHA.2016.7931865"},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"1338","DOI":"10.1109\/TMECH.2014.2340697","article-title":"A subject-adaptive controller for wrist robotic rehabilitation","volume":"20","author":"Pehlivan","year":"2015","journal-title":"IEEE\/ASME Trans. Mechatron."},{"key":"ref_15","doi-asserted-by":"crossref","first-page":"999","DOI":"10.1016\/j.conengprac.2005.06.009","article-title":"Actuator design using biomimicry methods and a pneumatic muscle system","volume":"14","author":"Repperger","year":"2006","journal-title":"Control Eng. Pract."},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1016\/j.mechatronics.2015.09.005","article-title":"Indirect sliding mode control based on gray-box identification method for pneumatic artificial muscle","volume":"32","author":"Ba","year":"2015","journal-title":"Mechatronics"},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"8128","DOI":"10.1016\/j.eswa.2010.12.154","article-title":"An iterative fuzzy controller for pneumatic muscle driven rehabilitation robot","volume":"38","author":"Xie","year":"2011","journal-title":"Expert Syst. Appl."},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"64","DOI":"10.1109\/TMECH.2012.2219065","article-title":"An adaptive wearable parallel robot for the treatment of ankle injuries","volume":"19","author":"Jamwal","year":"2014","journal-title":"IEEE\/ASME Trans. Mechatron."},{"key":"ref_19","doi-asserted-by":"crossref","unstructured":"Park, Y.-L., Chen, B.-R., Young, D., Stirling, L., Wood, R.J., Goldfield, E., and Nagpal, R. (2011, January 25\u201330). Bio-inspired active soft orthotic device for ankle foot pathologies. Proceedings of the 2011 IEEE\/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics (IROS\u201911), San Francisco, CA, USA.","DOI":"10.1109\/IROS.2011.6094933"},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"23","DOI":"10.1186\/1743-0003-6-23","article-title":"A pneumatically powered knee-ankle-foot orthosis (kafo) with myoelectric activation and inhibition","volume":"6","author":"Sawicki","year":"2009","journal-title":"J. Neuroeng. Rehabil."},{"key":"ref_21","doi-asserted-by":"crossref","unstructured":"Murphy, P., Adolf, G., Daly, S., Bolton, M., Maurice, O., Bonia, T., Mavroidis, C., and Yen, S.-C. (2014, January 26\u201330). Test of a customized compliant ankle rehabilitation device in unpowered mode. Proceedings of the 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Chicago, IL, USA.","DOI":"10.1109\/EMBC.2014.6944268"},{"key":"ref_22","unstructured":"Lin, L.-H., Yen, J.-Y., and Wang, F.-C. (2012, January 2\u20136). System identification and robust control of a pneumatic muscle actuator system. Proceedings of the 2nd International Conference on Engineering and Technology Innovation 2012 (ICETI 2012), Kaohsiung, Taiwan."},{"key":"ref_23","doi-asserted-by":"crossref","first-page":"1442","DOI":"10.1016\/j.conengprac.2011.08.002","article-title":"T-s fuzzy model-based tracking control of a one-dimensional manipulator actuated by pneumatic artificial muscles","volume":"19","author":"Chang","year":"2011","journal-title":"Control Eng. Pract."},{"key":"ref_24","doi-asserted-by":"crossref","unstructured":"Zhao, J., Zhong, J., and Fan, J. (2015). Position control of a pneumatic muscle actuator using RBF neural network tuned PID controller. Math. Prob. Eng., 2015.","DOI":"10.1155\/2015\/810231"},{"key":"ref_25","doi-asserted-by":"crossref","first-page":"448","DOI":"10.1016\/j.mechatronics.2008.02.006","article-title":"Modeling and control of a curved pneumatic muscle actuator for wearable elbow exoskeleton","volume":"18","author":"Zhang","year":"2008","journal-title":"Mechatronics"},{"key":"ref_26","doi-asserted-by":"crossref","first-page":"832","DOI":"10.1109\/TCST.2010.2052362","article-title":"Position and compliance control of a pneumatic muscle actuated manipulator for enhanced safety","volume":"19","author":"Choi","year":"2011","journal-title":"IEEE Trans. Control Syst. Technol."},{"key":"ref_27","first-page":"1","article-title":"Analysis and control of a parallel lower limb based on pneumatic artificial muscles","volume":"9","author":"Jiang","year":"2016","journal-title":"Adv. Mech. Eng."},{"key":"ref_28","doi-asserted-by":"crossref","first-page":"165","DOI":"10.1109\/TNNLS.2015.2472974","article-title":"Adaptive actor-critic design-based integral sliding-mode control for partially unknown nonlinear systems with input disturbances","volume":"27","author":"Fan","year":"2016","journal-title":"IEEE Trans. Neural Netw. Learn. Syst."},{"key":"ref_29","doi-asserted-by":"crossref","first-page":"465","DOI":"10.1007\/s11071-016-3253-8","article-title":"Nonlinear disturbance observer-based backstepping finite-time sliding mode tracking control of underwater vehicles with system uncertainties and external disturbances","volume":"88","author":"Liu","year":"2017","journal-title":"Nonlinear Dyn."},{"key":"ref_30","doi-asserted-by":"crossref","first-page":"253","DOI":"10.1016\/j.conengprac.2012.10.008","article-title":"Nonlinear disturbance observer design for robotic manipulators","volume":"21","author":"Mohammadi","year":"2013","journal-title":"Control Eng. Pract."},{"key":"ref_31","doi-asserted-by":"crossref","first-page":"2376","DOI":"10.1007\/s12555-016-0151-2","article-title":"Active disturbance rejection tracking control for a nonlinear pneumatic muscle system","volume":"15","author":"Yang","year":"2017","journal-title":"Int. J. Control Autom. Syst."},{"key":"ref_32","doi-asserted-by":"crossref","first-page":"1928","DOI":"10.1631\/jzus.2007.A1928","article-title":"Pressure observer-based adaptive robust trajectory tracking control of a parallel manipulator driven by pneumatic muscles","volume":"8","author":"Zhu","year":"2007","journal-title":"J. Zhejiang Univ.-SCI A"},{"key":"ref_33","doi-asserted-by":"crossref","first-page":"440","DOI":"10.1109\/TCST.2013.2262074","article-title":"Nonlinear disturbance observer-based dynamic surface control for trajectory tracking of pneumatic muscle system","volume":"22","author":"Wu","year":"2014","journal-title":"IEEE Trans. Control Syst. Technol."},{"key":"ref_34","doi-asserted-by":"crossref","unstructured":"Elobaid, Y.M.T., Huang, J., and Wang, Y.J. (2014). Nonlinear disturbance observer-based robust tracking control of pneumatic muscle. Math. Prob. Eng., 2014.","DOI":"10.1155\/2014\/872093"},{"key":"ref_35","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1016\/j.conengprac.2017.01.008","article-title":"Angle tracking of a pneumatic muscle actuator mechanism under varying load conditions","volume":"61","author":"Yang","year":"2017","journal-title":"Control Eng. Pract."},{"key":"ref_36","first-page":"4125","article-title":"Adaptive fuzzy sliding mode control for hydraulic servo system of parallel robot","volume":"12","author":"Jia","year":"2014","journal-title":"Indones. J. Electr. Eng."},{"key":"ref_37","doi-asserted-by":"crossref","unstructured":"Kanellakopoulos, I., Kokotovic, P.V., and Morse, A.S. (1991, January 26\u201328). Systematic design of adaptive controllers for feedback linearizable systems. Proceedings of the 1991 American Control Conference, Boston, MA, USA.","DOI":"10.23919\/ACC.1991.4791451"},{"key":"ref_38","doi-asserted-by":"crossref","first-page":"2195","DOI":"10.1109\/TCST.2015.2404894","article-title":"Backstepping control of variable stiffness robots","volume":"23","author":"Petit","year":"2015","journal-title":"IEEE Trans. Control Syst. Technol."},{"key":"ref_39","doi-asserted-by":"crossref","first-page":"1799","DOI":"10.1109\/TMECH.2013.2294970","article-title":"Force and stiffness backstepping-sliding mode controller for pneumatic cylinders","volume":"19","author":"Taheri","year":"2014","journal-title":"IEEE-ASME Trans. Mechatron."},{"key":"ref_40","doi-asserted-by":"crossref","first-page":"601","DOI":"10.1007\/s10846-017-0486-9","article-title":"Balancing and trajectory tracking of two-wheeled mobile robot using backstepping sliding mode control: Design and experiments","volume":"87","author":"Esmaeili","year":"2017","journal-title":"J. Intell. Robot. Syst."},{"key":"ref_41","doi-asserted-by":"crossref","first-page":"761","DOI":"10.1016\/j.mechmachtheory.2004.02.010","article-title":"Design and workspace analysis of a 6\u20136 cable-suspended parallel robot","volume":"39","author":"Pusey","year":"2004","journal-title":"Mech. Mach. Theory"},{"key":"ref_42","unstructured":"Gao, G., Lu, J., and Zhou, J. (2012, January 8\u20139). Kinematic modeling for a 6-DOF industrial robot. Proceedings of the 2012 International Conference on Mechatronic Systems and Materials Application (ICMSMA 2012), Qingdao, China."},{"key":"ref_43","doi-asserted-by":"crossref","first-page":"44","DOI":"10.1016\/j.conengprac.2016.11.015","article-title":"Fuzzy logic-based adaptive admittance control of a redundantly actuated ankle rehabilitation robot","volume":"59","author":"Ayas","year":"2017","journal-title":"Control Eng. Pract."},{"key":"ref_44","doi-asserted-by":"crossref","first-page":"992","DOI":"10.1109\/TRO.2011.2159408","article-title":"An experimental study on the dynamics of a 3-RRR flexible parallel robot","volume":"27","author":"Yu","year":"2011","journal-title":"IEEE Trans. Robot."},{"key":"ref_45","doi-asserted-by":"crossref","unstructured":"Hosseini, A., Karimi, H., Zarafshan, P., Massah, J., and Parandian, Y. (2016, January 27\u201328). Modeling and control of an octorotor flying robot using the software in a loop. Proceedings of the 4th International Conference on Control, Instrumentation, and Automation (ICCIA 2016), Qazvin, Iran.","DOI":"10.1109\/ICCIAutom.2016.7483135"},{"key":"ref_46","doi-asserted-by":"crossref","first-page":"2393","DOI":"10.3233\/JIFS-169080","article-title":"A kind of Lagrange dynamic simplified modeling method for multi-DOF robot","volume":"31","author":"Li","year":"2016","journal-title":"J. Intell. Fuzzy Syst."},{"key":"ref_47","unstructured":"Shao, K., and Ma, Q. (2013, January 20\u201323). Global fuzzy sliding mode control for multi-joint robot manipulators based on backstepping. Proceedings of the 8th International Conference on Intelligent Systems and Knowledge Engineering (ISKE 2013), Shenzhen, China."},{"key":"ref_48","doi-asserted-by":"crossref","first-page":"2058","DOI":"10.1049\/iet-cta.2009.0555","article-title":"Tracking control of pneumatic artificial muscle actuators based on sliding mode and non-linear disturbance observer","volume":"4","author":"Xing","year":"2010","journal-title":"IET Control Theory Appl."},{"key":"ref_49","doi-asserted-by":"crossref","first-page":"646","DOI":"10.3389\/fneur.2017.00646","article-title":"Sliding mode tracking control of a wire-driven upper-limb rehabilitation robot with nonlinear disturbance observer","volume":"8","author":"Niu","year":"2017","journal-title":"Front. Neurol."},{"key":"ref_50","doi-asserted-by":"crossref","first-page":"1671","DOI":"10.1007\/s11071-015-2268-x","article-title":"Disturbance observer-based adaptive sliding mode control for near-space vehicles","volume":"82","author":"Chen","year":"2015","journal-title":"Nonlinear Dyn."},{"key":"ref_51","doi-asserted-by":"crossref","first-page":"125011","DOI":"10.1088\/0964-1726\/25\/12\/125011","article-title":"Sliding mode disturbance observer-based adaptive integral backstepping control of a piezoelectric nano-manipulator","volume":"25","author":"Zhang","year":"2016","journal-title":"Smart Mater. Struct."},{"key":"ref_52","doi-asserted-by":"crossref","unstructured":"Gao, H., Lv, Y., Ma, G., and Li, C. (September, January 31). Backstepping sliding mode control for combined spacecraft with nonlinear disturbance observer. Proceedings of the 2016 UKACC 11th International Conference on Control, Belfast, UK.","DOI":"10.1109\/CONTROL.2016.7737539"},{"key":"ref_53","doi-asserted-by":"crossref","first-page":"1398","DOI":"10.1109\/TIE.2017.2733425","article-title":"Adaptive patient-cooperative control of a compliant ankle rehabilitation robot (CARR) with enhanced training safety","volume":"65","author":"Zhang","year":"2017","journal-title":"IEEE Trans. Ind. Electron."},{"key":"ref_54","doi-asserted-by":"crossref","first-page":"1759021","DOI":"10.1142\/S0218001417590212","article-title":"Passive and active control strategies of a leg rehabilitation exoskeleton powered by pneumatic artificial muscles","volume":"31","author":"Su","year":"2017","journal-title":"Int. J. Pattern Recognit. Artif. Intell."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/18\/1\/66\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T18:55:52Z","timestamp":1760208952000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/18\/1\/66"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2017,12,28]]},"references-count":54,"journal-issue":{"issue":"1","published-online":{"date-parts":[[2018,1]]}},"alternative-id":["s18010066"],"URL":"https:\/\/doi.org\/10.3390\/s18010066","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2017,12,28]]}}}