{"entities":{"Q2970877":{"pageid":2981602,"ns":120,"title":"Item:Q2970877","lastrevid":52771733,"modified":"2026-01-23T11:32:17Z","type":"item","id":"Q2970877","labels":{"en":{"language":"en","value":"Redundant input safety tracking for omnidirectional rehabilitative training walker with control constraints"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 6698883"}},"aliases":{},"claims":{"P31":[{"mainsnak":{"snaktype":"value","property":"P31","hash":"fd5912e4dab4b881a8eb0eb27e7893fef55176ad","datavalue":{"value":{"entity-type":"item","numeric-id":56887,"id":"Q56887"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2970877$CF416500-6B9A-43FA-ABE0-F10F07752A4C","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"563234a373e9cc7049804b5502acd6ee30dc07b1","datavalue":{"value":{"text":"Redundant Input Safety Tracking for Omnidirectional Rehabilitative Training Walker with Control Constraints","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q2970877$A8557599-1F3D-4255-90BC-BB943D6AE027","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"9e27f1e921e050827031d05458f3f83290a1084d","datavalue":{"value":"1358.93126","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2970877$F3992B61-1427-465F-8A65-F9C403ECBB36","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"62b97a2fff5201b760168e63abd7ba6aa73af724","datavalue":{"value":{"entity-type":"item","numeric-id":2060220,"id":"Q2060220"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2970877$9A120099-75D4-4A1B-8F02-1478C5214FFD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"e71721497e76f7e9464c0736a1a53d2252c7ed71","datavalue":{"value":{"entity-type":"item","numeric-id":2060222,"id":"Q2060222"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2970877$C38EFDFC-5933-49C6-85ED-321DEF7DC8C6","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"4a339d38578f9ea3c4a810c6814ca082b0d20b6d","datavalue":{"value":{"entity-type":"item","numeric-id":2789888,"id":"Q2789888"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2970877$165DFFBC-15E4-4F9D-8944-D9616E048323","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"72c0e07ad537fb33330a33ecd7818cc14403de47","datavalue":{"value":{"time":"+2017-03-31T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q2970877$97755982-81AB-416D-A3DC-3ABBAA2C04A9","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2970877$E2ABB6AB-4435-453A-947A-56E9DC242EB1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"30c44de7be251b06c724a821bfd07428e2a12118","datavalue":{"value":"93B35","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2970877$43BEE02A-2754-43F6-861A-596AD9EEC772","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"dd9a801a526fc4d8fad4b9db030b9cb0c67a3fce","datavalue":{"value":"93C40","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2970877$43A45C48-E295-4CAD-9A02-2FDBA9EB5555","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"3cf19f414d003b599cb8555b9227d1a95bcc55a3","datavalue":{"value":"93C15","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2970877$81542303-E35B-4C7A-81AA-D53A0BFF21B0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"559e9e993b5739992d837c78bb1ff74a483fa093","datavalue":{"value":"93C10","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2970877$8514329F-444A-4954-AFC1-8B9E15CEF75D","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"9491e59c83d1a85243851d4cf26d6589e6724991","datavalue":{"value":"6698883","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2970877$599BB0DD-E725-4C26-8C5F-F2BCBEFAEAEE","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"43d7f0f50b9ab5d849589bc5b9a1c5958086e0d5","datavalue":{"value":"safety adaptive robust control","type":"string"},"datatype":"string"},"type":"statement","id":"Q2970877$B4170E20-7402-4C5C-9627-6CB3112DFDD0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"db9c25e3a21d16b23367bacdd7480078371d6c10","datavalue":{"value":"tracking control","type":"string"},"datatype":"string"},"type":"statement","id":"Q2970877$76E29D0E-D903-4DAD-BF16-42A2847FEF1C","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2970877$D712F9A1-931C-4BF6-A476-961BC29D6501","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"27e1d504cf247d4f191d7d7b2c0e061546343649","datavalue":{"value":"https://doi.org/10.1002/asjc.1335","type":"string"},"datatype":"url"},"type":"statement","id":"Q2970877$C10A1A7F-8434-49D1-9122-307372F1528F","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"92e3df4e68ce59f55c7ef32c2134eb195674a488","datavalue":{"value":"W2411415701","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2970877$851DAE65-9B2E-4193-98C0-1EFB738C8452","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"c82ddc901f7641a17355dc03b14aa2ae02f616e9","datavalue":{"value":{"entity-type":"item","numeric-id":4921765,"id":"Q4921765"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2970877$F58113F4-3929-4F45-8244-7F29AB1C5480","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"3d433c55ff1a55c0c9c79a33ae52f8d5956bcbdc","datavalue":{"value":{"entity-type":"item","numeric-id":4978686,"id":"Q4978686"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2970877$DD2BDA2F-8E66-4B28-A905-B65D9E239C87","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c03c117676066f804e6534f0f004b194f63ef046","datavalue":{"value":{"entity-type":"item","numeric-id":3497786,"id":"Q3497786"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2970877$C78E94B0-DE5D-4DA1-9DD5-3C8624EF2746","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"45f9722aff039d71aaded9f8e1cf6e7084481e36","datavalue":{"value":{"entity-type":"item","numeric-id":4506595,"id":"Q4506595"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2970877$AE5AFFC8-98E2-4667-85D6-BE7280BC3C7C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c63387bb0b1f24dfb37d55a4b2e170697bb646ad","datavalue":{"value":{"entity-type":"item","numeric-id":2510206,"id":"Q2510206"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2970877$C8D6780E-A09B-465B-84EE-3BA0BC1EE49F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"19fd893c9b2822bcddc18ae9cfc34950f962644a","datavalue":{"value":{"entity-type":"item","numeric-id":1937496,"id":"Q1937496"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2970877$2349D5A2-071C-4DCE-A5CA-7ED6C7CA21D4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"d46bd173528f390ec58ddd467aaa52cdefe1be50","datavalue":{"value":{"entity-type":"item","numeric-id":5352879,"id":"Q5352879"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2970877$E84F24F6-91AE-4A87-B305-415E65F30089","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"b329254705126d04dda4be2c46314701fbade5bb","datavalue":{"value":{"entity-type":"item","numeric-id":2983270,"id":"Q2983270"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2970877$87331452-0170-4E14-927B-6F10641C2683","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"13dc01309b06e0be5cf0929b173a5d5753d80320","datavalue":{"value":{"entity-type":"item","numeric-id":5353306,"id":"Q5353306"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2970877$DA5DE4B4-CB19-49EA-BB82-51C77B889D0B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"418c41792129db4de9a8256be2fe44c2fc21cf6a","datavalue":{"value":{"entity-type":"item","numeric-id":3454361,"id":"Q3454361"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2970877$047707A8-CF3A-4533-881A-47D670C7B3A0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"1b511a9a2e27fd98c8d01bd6de431ff6cca114b6","datavalue":{"value":{"entity-type":"item","numeric-id":3087338,"id":"Q3087338"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2970877$F2C625E9-3CF4-458D-A363-F1835905AF68","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ff6ea6809877e3d64bcf3bb973fb4ae5e5af94ba","datavalue":{"value":{"entity-type":"item","numeric-id":3454363,"id":"Q3454363"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2970877$AF5491E9-0DAF-47C7-A2FB-64A41FF13BC9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"04c2babd65bfd698ad66f9962790bdb4344745ee","datavalue":{"value":{"entity-type":"item","numeric-id":357554,"id":"Q357554"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2970877$93A3E988-C1E8-416F-8FC8-55D3A3B15F0E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"d896e6cbdb0a32f6ffe898d69335e0eed5819e22","datavalue":{"value":{"entity-type":"item","numeric-id":544938,"id":"Q544938"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2970877$EC74267E-B750-4B04-B99D-2A647907DC57","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"f2366104293487972f9120b441af91a2cce278f9","datavalue":{"value":"10.1002/ASJC.1335","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2970877$AFF6A7FD-A2EC-4C2A-8A00-BCE11280D05F","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"824470c36c8e6409b778caa19da520ccfd513c94","datavalue":{"value":{"entity-type":"item","numeric-id":5348298,"id":"Q5348298"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"b0f521b6bd750e25416ad3ba83e1bebcd0e63728","datavalue":{"value":{"amount":"+0.793452262878418","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2970877$3EBADE65-7C83-485B-9D85-2DC9BE51EF3C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"b02e98f1294db7886225e665ba0f8b24a735f8d8","datavalue":{"value":{"entity-type":"item","numeric-id":5113278,"id":"Q5113278"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"42352282cf2af37d87eb6f8dd962b536e0528288","datavalue":{"value":{"amount":"+0.7906285524368286","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2970877$0F878C33-4784-4AB4-87C3-4F59F81E8B16","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"f1dc477018a4720d73da2289ce1dc5e248a80e98","datavalue":{"value":{"entity-type":"item","numeric-id":5003624,"id":"Q5003624"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"665c8228f580626b7f4c5f7b793eb379cb3b260a","datavalue":{"value":{"amount":"+0.7896748781204224","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2970877$C0D643AF-A51D-4A81-BC5B-817960A93EFF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"48f1578dd5950c72c374c8aa719584e4ff517227","datavalue":{"value":{"entity-type":"item","numeric-id":5363272,"id":"Q5363272"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"5c0e7c182edee80e1fee6d61497966e35b18b4ca","datavalue":{"value":{"amount":"+0.749142587184906","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2970877$F1D47E9A-1E1F-4F18-A7A2-07926876C6E3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"9b433a791d1a6b2f7892bd014ad276b0d7561f6b","datavalue":{"value":{"entity-type":"item","numeric-id":5157924,"id":"Q5157924"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"274780fd18bd0e909b708e858861c2af7cce7321","datavalue":{"value":{"amount":"+0.7242482304573059","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2970877$15945343-06DC-4109-A35E-4EBA80B411FD","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:2970877","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:2970877"}}}}}