{"entities":{"Q4967670":{"pageid":6997249,"ns":120,"title":"Item:Q4967670","lastrevid":41649902,"modified":"2025-05-06T19:01:22Z","type":"item","id":"Q4967670","labels":{"en":{"language":"en","value":"Adaptive second-order sliding-mode controller for shank-foot orthosis system"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7076328"}},"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":"Q4967670$BF7E3C24-AF16-4A92-B0F0-80F8A89732A7","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"b2f50d6a2893d2ec1dea8a17ebde533b3a96c4f2","datavalue":{"value":{"text":"Adaptive second-order sliding-mode controller for shank-foot orthosis system","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q4967670$535B745B-65CB-421E-8688-6573EDBDF31E","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"e7d1183844f10092a66617a8dbe62a6753f7a8f0","datavalue":{"value":"1417.93098","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4967670$221FD430-EAA3-4712-A166-BD3A5D2DF19E","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"4524b41f8b8073016f6896732b133226df7bfd78","datavalue":{"value":"10.1080/00207179.2017.1400183","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4967670$704A7E64-7C91-42A8-A185-B94B27868211","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"9f65691471a6030e080b434dd4fb683c45663a77","datavalue":{"value":{"entity-type":"item","numeric-id":4967668,"id":"Q4967668"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4967670$62CCECDF-738D-46F7-A4FA-9435BB46C61E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"9436f9caa7beaafe3c417d8fdfe0cdd9e246a8db","datavalue":{"value":{"entity-type":"item","numeric-id":4967669,"id":"Q4967669"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4967670$78E7D45D-DD15-44BA-8763-035F03E64109","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"8fd1f09f03b2151af9bae64b3990df459d820d19","datavalue":{"value":{"entity-type":"item","numeric-id":159993,"id":"Q159993"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4967670$1054A0C6-D4A7-423E-9CF9-58F92E9139BA","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"9b2283e6142fc020fab81d606e8cffb613fc5a16","datavalue":{"value":{"time":"+2019-07-03T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q4967670$30F98E77-B058-4BE9-B687-D8297A96C950","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"c9f9620f736fe7e9d98419851a30eb0cb81dd3f3","datavalue":{"value":"93B12","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4967670$34572CB3-6433-4699-AF1D-08D206BADA94","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"dd9a801a526fc4d8fad4b9db030b9cb0c67a3fce","datavalue":{"value":"93C40","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4967670$3ADCAB24-51CB-4BA9-B533-6DFC564923A8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"b2650696ed3935a49b70cc972e8bc0c67a8cd2c3","datavalue":{"value":"93D05","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4967670$D2B7E31E-395B-4F37-A745-660777AD7400","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"6645294f329205d6c74039207697939030eead29","datavalue":{"value":"93C42","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4967670$F2D47B42-C8CC-4142-B6AC-1A67E1EF8297","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"c9727d9ee90ef6c0f1bdf0ba5bb711e9a6b7cd05","datavalue":{"value":"93C95","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4967670$01E8B41F-F149-404B-AEC2-F9433A0FC0BE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"e27beffea4779e8a96e7c5961e8cc7879483d808","datavalue":{"value":"92C50","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4967670$174424E9-C701-41F0-BD17-B724A7D92219","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"154222e2b4b9590dd1d56378167fd10f1804b0a6","datavalue":{"value":"7076328","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4967670$EB6E794A-0AD9-4921-8A4D-EAECD6F776A9","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"0c4569ac38b632dfaca4282e3184249fb2792600","datavalue":{"value":"shank-foot orthosis system","type":"string"},"datatype":"string"},"type":"statement","id":"Q4967670$5B76B785-511A-4641-B648-BA872CA9E1C7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"f8adb4f50ad503c9073f1732f49b5dca4bd91a5a","datavalue":{"value":"SMC","type":"string"},"datatype":"string"},"type":"statement","id":"Q4967670$780054D2-ECCD-4DFD-8F76-064934AD1C87","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"1cd0fc17a4bb61d97cfbeb1849c7ad6876f6582a","datavalue":{"value":"SoSMC","type":"string"},"datatype":"string"},"type":"statement","id":"Q4967670$E2F61D18-04A2-4403-81B7-57F0C578401B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"38a3ec22b6d253fbeb2aeafc4808d275b0725b4d","datavalue":{"value":"ASoSMC","type":"string"},"datatype":"string"},"type":"statement","id":"Q4967670$53448847-D15D-46AE-A657-B3C04C4A3517","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"ebb554cea6d50cdeed7dd4773eb3915616d3ec30","datavalue":{"value":"RMSE","type":"string"},"datatype":"string"},"type":"statement","id":"Q4967670$E5904C97-89AE-47DA-80D1-3FC6D7A1ACAA","rank":"normal"}],"P1463":[{"mainsnak":{"snaktype":"value","property":"P1463","hash":"0e6cc78abcdf07b941d3ea6ab8ea93a6dcc8b7fc","datavalue":{"value":{"entity-type":"item","numeric-id":20730,"id":"Q20730"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4967670$BBDAB08A-0BDB-453E-9ABC-462828C28FB8","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":"Q4967670$4EE48242-D333-438C-901E-1C5A12AD7719","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"27e096390609895ab83040acf6a66f5172b020e8","datavalue":{"value":"https://doi.org/10.1080/00207179.2017.1400183","type":"string"},"datatype":"url"},"type":"statement","id":"Q4967670$4C5E4321-C67A-4773-B038-E0C02A3BD74E","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"6ba2b05bb7606be4e3317d14343e7493efff0c53","datavalue":{"value":"W2769070938","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4967670$CBC8EA7C-3636-4C68-A28D-8D5F7F461B0C","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"c8a01a61bc4667c75b75eeb299287b261a16caee","datavalue":{"value":{"entity-type":"item","numeric-id":3798285,"id":"Q3798285"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4967670$0963CF48-DF4E-4AB1-865F-2F14E3828D74","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"53a0413cd6e7214bd52c995d779419454d92d900","datavalue":{"value":{"entity-type":"item","numeric-id":3495162,"id":"Q3495162"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4967670$A9D703FD-85BC-4A60-80C7-03414320038A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"759a91ed4ade8a3719c28a5e6e99198f470de9ac","datavalue":{"value":{"entity-type":"item","numeric-id":5350238,"id":"Q5350238"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4967670$B09A4D18-16C0-4CCE-BA18-F784B1A16F73","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"82961272328cd3f40868e4bdb6f2867875c7b770","datavalue":{"value":{"entity-type":"item","numeric-id":311948,"id":"Q311948"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4967670$AF6ACB8A-9A6C-48E1-983F-27968B5B561C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"2767d687062c0a068b22b759232b982ac25977ac","datavalue":{"value":{"entity-type":"item","numeric-id":5943834,"id":"Q5943834"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4967670$834D9EEA-6C6C-4DA1-A6AD-1849A3B31EFD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"111bcf34044b5367b06620b1fda85ca76ef14d16","datavalue":{"value":{"entity-type":"item","numeric-id":3058330,"id":"Q3058330"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4967670$2CFC2062-3D02-4716-9B22-0B5F89FB01A7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c3053a46b73f1844e8886245183066ddf5c3a583","datavalue":{"value":{"entity-type":"item","numeric-id":2282020,"id":"Q2282020"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4967670$C9E2C6A1-423C-48D8-BA79-66E7366E7C2B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"b02081d7e6bf3253e9423a162bdae5363a19e659","datavalue":{"value":{"entity-type":"item","numeric-id":717962,"id":"Q717962"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4967670$CE80ED76-27DC-41DF-B92D-8F2E41A3664F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"702ab7f92fe0200b6513ea9003c69d57e29c7f80","datavalue":{"value":{"entity-type":"item","numeric-id":3798288,"id":"Q3798288"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4967670$6E23464D-86BA-4BB0-A8C8-A67A9CF8A05E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"e61213ba1a5d6cba4c562d69b00b878c6f4b318e","datavalue":{"value":{"entity-type":"item","numeric-id":290847,"id":"Q290847"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4967670$7C82CA71-1A54-4471-9701-D54E449FD5B2","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"9ce81a251bf14d29dc30e241bb5aeb97e7441d62","datavalue":{"value":{"entity-type":"item","numeric-id":5194861,"id":"Q5194861"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"c0ba43cd39c0e223fa18c78b7ba7d68b385c2648","datavalue":{"value":{"amount":"+0.86611","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4967670$C9D87B67-36A2-44BA-A4EA-FFCF90CCE43A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"372319967a9367f70e9bb604d5aea6d786fba175","datavalue":{"value":{"entity-type":"item","numeric-id":2830283,"id":"Q2830283"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"4f3931e65b02a123c6f7210dc6ba84d6397dcbd4","datavalue":{"value":{"amount":"+0.84846795","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4967670$EA9FF9D5-943E-45BA-81C9-2FC353DBD838","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"6cae4c6f6bd84e2f901e9dce198ee6b31c156cbb","datavalue":{"value":{"entity-type":"item","numeric-id":2410761,"id":"Q2410761"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"5650753150573320d7f6faa2d8cdecab9551789a","datavalue":{"value":{"amount":"+0.8473155","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4967670$BC3738C4-805E-4796-94A3-1A594073A7C3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"c4f6a8c593f7150156e74f16f756d01fc52950c0","datavalue":{"value":{"entity-type":"item","numeric-id":5398034,"id":"Q5398034"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"611e07096e495e7e963ced78ad9cd9ba3fccf6b5","datavalue":{"value":{"amount":"+0.83844405","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4967670$5758215C-496D-4A28-84D0-B84D9FEE9CA6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"b85b032f7c113c72a0614aaa30853254cdda9934","datavalue":{"value":{"entity-type":"item","numeric-id":5194858,"id":"Q5194858"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"14893fe24862938f5440d46cfdff1c82bf2ddf03","datavalue":{"value":{"amount":"+0.8375126","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4967670$7EDC5363-927E-4203-8B61-30BD6109F156","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"baff84d1151a3a2078193ccc258ee67e339f2c08","datavalue":{"value":{"entity-type":"item","numeric-id":2335472,"id":"Q2335472"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"5f8d38bd576d1c33a56c8c1a28b8fa26614b9235","datavalue":{"value":{"amount":"+0.8368434","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4967670$279084CA-6EA4-4E74-93D2-C41F97A0742A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"af5db46a73af4b8ba0d1b31a771f0d4cd8fb9565","datavalue":{"value":{"entity-type":"item","numeric-id":6052723,"id":"Q6052723"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"5c9beec0ee5d19145e61b92d942dd13edfd210aa","datavalue":{"value":{"amount":"+0.83588624","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4967670$1D033FA5-2547-49D7-8058-5EC860E9307F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"d6fc0e57a9cac5725963231bae82165bbcba077a","datavalue":{"value":{"entity-type":"item","numeric-id":5026810,"id":"Q5026810"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"402cbe28e3498ffd164635a3b2e0512d9e02f516","datavalue":{"value":{"amount":"+0.83485985","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4967670$B51F9AAC-C007-479E-A0F3-F38786D8CF2A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"a4ac48a10dc7009ed3f4a4381f74cd019860afde","datavalue":{"value":{"entity-type":"item","numeric-id":5327609,"id":"Q5327609"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"3a85d43bac0742515b8021c21ec72a6a1a7ddf47","datavalue":{"value":{"amount":"+0.8346198","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4967670$138BFD39-1824-4336-ABA3-4974A0DCFF0D","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:4967670","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:4967670"}}}}}