{"doi":"10.1016/j.ifacol.2025.12.217","title":"Adaptive Control Using a High-Order Tuner for a Motorized Ankle Stretching Device","abstract":"Spasticity, muscle weakness, and contracture in the musculotendon complex of the ankle joint are debilitating factors after a stroke or neurological injury. Motorized rehabilitation techniques involving dynamic stretching of the ankle plantarflexors in people with spasticity can improve passive stiffness, maximum voluntary contraction, and range of motion. However, clinical work has leveraged heuristic open-loop torques or PID control of ankle devices, which may lead to unsafe human-machine interactions and lack of customization to evoke desired neuromuscular responses. This paper develops a continuous closed-loop adaptive controller leveraging a desired compensation adaptive law-like approach (using desired trajectories in the regressor) and a high-order tuner to track kinematic trajectories designed to evoke ankle plantarflexor stretches using a motorized ankle device. A high-order tuner strategy is used to improve transient performance and to generate smoother parameter estimates when compared to standard gradient-based adaptive controllers. A Lyapunov-based stability analysis guarantees globally uniformly ultimately bounded (GUUB) kinematic tracking.","journal":"IFAC-PapersOnLine","year":2025,"id":586718,"datarank":0.0,"base_score":0.0,"endowment":0.0,"self_citation_contribution":0.0,"citation_network_contribution":0.0,"self_endowment_contribution":0.0,"citer_contribution":0.0,"corpus_percentile":null,"corpus_rank":null,"citation_count":0,"citer_count":0,"citers_with_citation_signal":0,"citers_with_endowment":0,"datacite_reuse_total":0,"is_dataset":false,"is_dataset_confidence":0.9522,"is_data_producer":false,"deposit_databanks":null,"is_oa":true,"file_count":0,"downloads":0,"has_version_chain":false,"published_date":"2025-01-01","fair_score":null,"fair_percentile":null,"algorithm_id":"datarank_citation_only_1hop_v6","ranking_scope":"data_only","authors":[{"id":1501751,"name":"Evan Tulsky","orcid":null,"position":1,"is_corresponding":false},{"id":1501228,"name":"Victor H. Duenas","orcid":"0000-0002-7893-8117","position":2,"is_corresponding":false},{"id":1501750,"name":"Nicholas Rubino","orcid":null,"position":0,"is_corresponding":true}],"reference_count":12,"raw_metadata":null,"created_at":"2026-07-19T02:59:32.191237Z","pmid":null,"pmcid":null,"fwci":null,"citation_percentile":null,"influential_citations":0,"oa_status":null,"license":null,"views":0,"total_file_size_bytes":0,"version_count":0,"fair_f":null,"fair_a":null,"fair_i":null,"fair_r":null,"fair_zscore":null,"fair_rationale":null,"fair_model":null,"fair_agent_version":null,"fair_fulltext_source":null,"fair_has_llm":null,"fair_computed_at":null,"clinical_trials":[],"software_tools":[],"db_accessions":[],"linked_datasets":[],"topics":[]}