{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,2]],"date-time":"2026-04-02T15:41:57Z","timestamp":1775144517012,"version":"3.50.1"},"reference-count":48,"publisher":"MDPI AG","issue":"7","license":[{"start":{"date-parts":[[2025,7,17]],"date-time":"2025-07-17T00:00:00Z","timestamp":1752710400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"New frontiers in adaptive modular robotics for patient-centered medical rehabilitation\u2014","award":["ASKLEPIOS"],"award-info":[{"award-number":["ASKLEPIOS"]}]},{"name":"New frontiers in adaptive modular robotics for patient-centered medical rehabilitation\u2014","award":["760071\/23.05.2023"],"award-info":[{"award-number":["760071\/23.05.2023"]}]},{"name":"New frontiers in adaptive modular robotics for patient-centered medical rehabilitation\u2014","award":["CF 121\/15.11.2022"],"award-info":[{"award-number":["CF 121\/15.11.2022"]}]},{"name":"European Union\u2014Next Generation EU and Romanian Government","award":["ASKLEPIOS"],"award-info":[{"award-number":["ASKLEPIOS"]}]},{"name":"European Union\u2014Next Generation EU and Romanian Government","award":["760071\/23.05.2023"],"award-info":[{"award-number":["760071\/23.05.2023"]}]},{"name":"European Union\u2014Next Generation EU and Romanian Government","award":["CF 121\/15.11.2022"],"award-info":[{"award-number":["CF 121\/15.11.2022"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Actuators"],"abstract":"<jats:p>This paper presents the development of a fuzzy-PID control able to adapt to several robot\u2013patient interaction modes by monitoring patient evolution during the rehabilitation procedure. This control system is designed to provide targeted rehabilitation therapy through three interaction modes: passive; active\u2013assistive; and resistive. By integrating a fuzzy inference system into the classical PID architecture, the FPID controller dynamically adjusts control gains in response to tracking error and patient effort. The simulation results indicate that, in passive mode, the FPID controller achieves a 32% lower RMSE, reduced overshoot, and a faster settling time compared to the conventional PID. In the active\u2013assistive mode, the FPID demonstrates enhanced responsiveness and reduced error lag when tracking a sinusoidal reference, while in resistive mode, it more effectively compensates for imposed load disturbances. A rehabilitation scenario simulating repeated motion cycles on a healthy subject further confirms that the FPID controller consistently produces a lower overall RMSE and variability.<\/jats:p>","DOI":"10.3390\/act14070351","type":"journal-article","created":{"date-parts":[[2025,7,17]],"date-time":"2025-07-17T13:00:51Z","timestamp":1752757251000},"page":"351","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":4,"title":["Fuzzy Adaptive Control for a 4-DOF Hand Rehabilitation Robot"],"prefix":"10.3390","volume":"14","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-5660-8259","authenticated-orcid":false,"given":"Paul","family":"Tucan","sequence":"first","affiliation":[{"name":"CESTER-Research Center for Industrial Robots Simulation and Testing, Technical University of Cluj-Napoca, 28 Memorandumului Street, 400114 Cluj-Napoca, Romania"},{"name":"European University of Technology, European Union"}]},{"given":"Oana-Maria","family":"Vanta","sequence":"additional","affiliation":[{"name":"CESTER-Research Center for Industrial Robots Simulation and Testing, Technical University of Cluj-Napoca, 28 Memorandumului Street, 400114 Cluj-Napoca, Romania"},{"name":"European University of Technology, European Union"},{"name":"Neurology I Department, Cluj-Napoca Emergency Clinical County Hospital, 400012 Cluj-Napoca, Romania"},{"name":"Neurology Department, University of Medicine and Pharmacy \u201cIuliu Hatieganu\u201d, 400012 Cluj-Napoca, Romania"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2822-9790","authenticated-orcid":false,"given":"Calin","family":"Vaida","sequence":"additional","affiliation":[{"name":"CESTER-Research Center for Industrial Robots Simulation and Testing, Technical University of Cluj-Napoca, 28 Memorandumului Street, 400114 Cluj-Napoca, Romania"},{"name":"European University of Technology, European Union"}]},{"given":"Mihai","family":"Ciupe","sequence":"additional","affiliation":[{"name":"CESTER-Research Center for Industrial Robots Simulation and Testing, Technical University of Cluj-Napoca, 28 Memorandumului Street, 400114 Cluj-Napoca, Romania"},{"name":"European University of Technology, European Union"}]},{"ORCID":"https:\/\/orcid.org\/0009-0009-7615-6240","authenticated-orcid":false,"given":"Dragos","family":"Sebeni","sequence":"additional","affiliation":[{"name":"CESTER-Research Center for Industrial Robots Simulation and Testing, Technical University of Cluj-Napoca, 28 Memorandumului Street, 400114 Cluj-Napoca, Romania"},{"name":"European University of Technology, European Union"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5531-6913","authenticated-orcid":false,"given":"Adrian","family":"Pisla","sequence":"additional","affiliation":[{"name":"CESTER-Research Center for Industrial Robots Simulation and Testing, Technical University of Cluj-Napoca, 28 Memorandumului Street, 400114 Cluj-Napoca, Romania"},{"name":"European University of Technology, European Union"}]},{"given":"Simona","family":"Stiole","sequence":"additional","affiliation":[{"name":"CESTER-Research Center for Industrial Robots Simulation and Testing, Technical University of Cluj-Napoca, 28 Memorandumului Street, 400114 Cluj-Napoca, Romania"},{"name":"European University of Technology, European Union"}]},{"given":"David","family":"Lupu","sequence":"additional","affiliation":[{"name":"CESTER-Research Center for Industrial Robots Simulation and Testing, Technical University of Cluj-Napoca, 28 Memorandumului Street, 400114 Cluj-Napoca, Romania"},{"name":"European University of Technology, European Union"}]},{"given":"Zoltan","family":"Major","sequence":"additional","affiliation":[{"name":"CESTER-Research Center for Industrial Robots Simulation and Testing, Technical University of Cluj-Napoca, 28 Memorandumului Street, 400114 Cluj-Napoca, Romania"},{"name":"European University of Technology, European Union"},{"name":"Department of Neurology, Clinical Municipal Hospital, 400139 Cluj-Napoca, Romania"},{"name":"Department of Neurophysiology, National Center for Spinal Disorders, 1126 Budapest, Hungary"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4427-6231","authenticated-orcid":false,"given":"Bogdan","family":"Gherman","sequence":"additional","affiliation":[{"name":"CESTER-Research Center for Industrial Robots Simulation and Testing, Technical University of Cluj-Napoca, 28 Memorandumului Street, 400114 Cluj-Napoca, Romania"},{"name":"European University of Technology, European Union"}]},{"given":"Vasile","family":"Bulbucan","sequence":"additional","affiliation":[{"name":"CESTER-Research Center for Industrial Robots Simulation and Testing, Technical University of Cluj-Napoca, 28 Memorandumului Street, 400114 Cluj-Napoca, Romania"},{"name":"European University of Technology, European Union"}]},{"ORCID":"https:\/\/orcid.org\/0009-0007-0483-7691","authenticated-orcid":false,"given":"Ionut","family":"Zima","sequence":"additional","affiliation":[{"name":"CESTER-Research Center for Industrial Robots Simulation and Testing, Technical University of Cluj-Napoca, 28 Memorandumului Street, 400114 Cluj-Napoca, Romania"},{"name":"European University of Technology, European Union"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4917-2474","authenticated-orcid":false,"given":"Jose","family":"Machado","sequence":"additional","affiliation":[{"name":"CESTER-Research Center for Industrial Robots Simulation and Testing, Technical University of Cluj-Napoca, 28 Memorandumului Street, 400114 Cluj-Napoca, Romania"},{"name":"European University of Technology, European Union"},{"name":"MEtRICs Research Centre, School of Engineering, University of Minho, Campus of Azur\u00e9m, 4800-058 Guimar\u00e3es, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7014-9431","authenticated-orcid":false,"given":"Doina","family":"Pisla","sequence":"additional","affiliation":[{"name":"CESTER-Research Center for Industrial Robots Simulation and Testing, Technical University of Cluj-Napoca, 28 Memorandumului Street, 400114 Cluj-Napoca, Romania"},{"name":"European University of Technology, European Union"},{"name":"Technical Sciences Academy of Romania, B-dul Dacia, 26, 030167 Bucharest, Romania"}]}],"member":"1968","published-online":{"date-parts":[[2025,7,17]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"1262","DOI":"10.1016\/j.apmr.2006.05.013","article-title":"Weakness Is the Primary Contributor to Finger Impairment in Chronic Stroke","volume":"87","author":"Kamper","year":"2006","journal-title":"Arch. 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