{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,11]],"date-time":"2026-03-11T22:24:33Z","timestamp":1773267873681,"version":"3.50.1"},"reference-count":46,"publisher":"MDPI AG","issue":"11","license":[{"start":{"date-parts":[[2018,10,24]],"date-time":"2018-10-24T00:00:00Z","timestamp":1540339200000},"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":["51705240"],"award-info":[{"award-number":["51705240"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100004608","name":"Natural Science Foundation of Jiangsu Province","doi-asserted-by":"publisher","award":["BK20170783"],"award-info":[{"award-number":["BK20170783"]}],"id":[{"id":"10.13039\/501100004608","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100004750","name":"Aeronautical Science Foundation of China","doi-asserted-by":"publisher","award":["2017ZC52037"],"award-info":[{"award-number":["2017ZC52037"]}],"id":[{"id":"10.13039\/501100004750","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Robot-assisted training is a promising technology in clinical rehabilitation providing effective treatment to the patients with motor disability. In this paper, a multi-modal control strategy for a therapeutic upper limb exoskeleton is proposed to assist the disabled persons perform patient-passive training and patient-cooperative training. A comprehensive overview of the exoskeleton with seven actuated degrees of freedom is introduced. The dynamic modeling and parameters identification strategies of the human-robot interaction system are analyzed. Moreover, an adaptive sliding mode controller with disturbance observer (ASMCDO) is developed to ensure the position control accuracy in patient-passive training. A cascade-proportional-integral-derivative (CPID)-based impedance controller with graphical game-like interface is designed to improve interaction compliance and motivate the active participation of patients in patient-cooperative training. Three typical experiments are conducted to verify the feasibility of the proposed control strategy, including the trajectory tracking experiments, the trajectory tracking experiments with impedance adjustment, and the intention-based training experiments. The experimental results suggest that the tracking error of ASMCDO controller is smaller than that of terminal sliding mode controller. By optimally changing the impedance parameters of CPID-based impedance controller, the training intensity can be adjusted to meet the requirement of different patients.<\/jats:p>","DOI":"10.3390\/s18113611","type":"journal-article","created":{"date-parts":[[2018,10,24]],"date-time":"2018-10-24T10:40:48Z","timestamp":1540377648000},"page":"3611","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":28,"title":["Development, Dynamic Modeling, and Multi-Modal Control of a Therapeutic Exoskeleton for Upper Limb Rehabilitation Training"],"prefix":"10.3390","volume":"18","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-7774-6092","authenticated-orcid":false,"given":"Qingcong","family":"Wu","sequence":"first","affiliation":[{"name":"College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China"}]},{"given":"Hongtao","family":"Wu","sequence":"additional","affiliation":[{"name":"College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China"},{"name":"State Key Laboratory of Robotics and System, Harbin Institute of Technology (HIT), Harbin 150001, China"}]}],"member":"1968","published-online":{"date-parts":[[2018,10,24]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"188","DOI":"10.1097\/JNN.0000000000000375","article-title":"Reflections on 50 years of neuroscience nursing: the growth of stroke nursing","volume":"50","author":"Jackson","year":"2018","journal-title":"J. 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