{"entities":{"Q5027846":{"pageid":7057423,"ns":120,"title":"Item:Q5027846","lastrevid":54217454,"modified":"2026-01-26T11:56:55Z","type":"item","id":"Q5027846","labels":{"en":{"language":"en","value":"An adaptive arm's mechanical impedance estimator for rehabilitation robots without force and acceleration sensors"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7469878"}},"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":"Q5027846$FAB6B74A-777E-44D3-A41F-781A9ADD2861","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"03099a67fb2d4d6eef1c47de538f60a9bed76486","datavalue":{"value":{"text":"An adaptive arm\u2019s mechanical impedance estimator for rehabilitation robots without force and acceleration sensors","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q5027846$ACD1A058-7FAD-4249-A273-4713793F5051","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"e22dd3ce3b67bcfffdd61756a75b35500f23e5f2","datavalue":{"value":"1482.93421","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5027846$F9816F19-B2F7-4667-91FE-C0F1A49430FD","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"96e43528bfe4c4ab186738053e5d5cb25758bed1","datavalue":{"value":"10.1080/00207721.2018.1525622","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5027846$C79FA8B3-EEAE-4810-B2B0-C6960197CEBA","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"547d25be0d291f6f678db35ec1bd526fe64064dc","datavalue":{"value":{"entity-type":"item","numeric-id":5027845,"id":"Q5027845"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5027846$643B8B14-28F4-4155-91CC-726F30A80C80","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"d9ec124bb405246fb4cd00a3fc8ee5aa5225b5a6","datavalue":{"value":{"entity-type":"item","numeric-id":493963,"id":"Q493963"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5027846$39564B62-4151-4EA7-B049-69892D234D1B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"eb44e552d24c6a73faa11ec42c5699ac110c614d","datavalue":{"value":{"entity-type":"item","numeric-id":1687358,"id":"Q1687358"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5027846$68635813-FF20-4ED7-B4EE-47BE022CA767","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"7aa11683cd15ce5a964ad11892ef1d2e6a1089b7","datavalue":{"value":{"time":"+2022-02-07T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q5027846$1162F352-9E03-4A09-8BEE-AE0BEAA0B618","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5027846$E910896F-5154-48D5-AB95-41838D0DF963","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"dd9a801a526fc4d8fad4b9db030b9cb0c67a3fce","datavalue":{"value":"93C40","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5027846$0EC6F74F-3FBF-4117-8383-182436047D6F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"923c8bef102bb6ebd35f125cc10b56d21864b3aa","datavalue":{"value":"93B53","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5027846$4156A07F-B036-414E-85C6-DBBFDD831155","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"21e89305b059de7ebaca80e60a19c0cd8ae3f40b","datavalue":{"value":"7469878","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5027846$BCAC2292-59B8-4118-BA0E-377D5344924C","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"31f2e024fa1999a8c72892dd1ac34b7e19a53ee1","datavalue":{"value":"rehabilitation robot","type":"string"},"datatype":"string"},"type":"statement","id":"Q5027846$53890B2E-6767-4CD9-B381-BBEF9EBCCD38","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"b253d7d94b74404330dfb928accbc7530cbafcd3","datavalue":{"value":"adaptive control","type":"string"},"datatype":"string"},"type":"statement","id":"Q5027846$02EDFFB4-6ECA-40B6-A467-F1A7FE5F4750","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"4363707bbf5243732c0eb517772597f99dba9f50","datavalue":{"value":"force estimation","type":"string"},"datatype":"string"},"type":"statement","id":"Q5027846$D6B8DC41-CF36-4E68-8DE3-3251B7A07BB4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"3244f7bd8227e4830d04df5e6287fd29e21753ab","datavalue":{"value":"impedance estimation","type":"string"},"datatype":"string"},"type":"statement","id":"Q5027846$47B75B71-8E14-46B8-8BAC-ABF7EFC858AA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"cb255c993ba94185459c6efe0dc58b5abb1121b3","datavalue":{"value":"least-square estimation","type":"string"},"datatype":"string"},"type":"statement","id":"Q5027846$BB0713EA-0ECF-4273-9C49-BF6A255C8CB5","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":"Q5027846$005B9926-A164-41FA-9B1E-AB536CE02457","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"f7a1d4f3dd7118c3e1e36038af442f333b6590c6","datavalue":{"value":"https://doi.org/10.1080/00207721.2018.1525622","type":"string"},"datatype":"url"},"type":"statement","id":"Q5027846$F7A4CCEB-C31A-4549-B234-926DF8652C79","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"3678f0ee1aef74fe5e2ffb03b442dae2ed068b38","datavalue":{"value":"W2892490784","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5027846$5B42601E-5B09-455C-945F-D453B1CCCD65","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"c3788a9ccf9ff6107feb057cea362489d178dc96","datavalue":{"value":{"entity-type":"item","numeric-id":3331008,"id":"Q3331008"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5027846$304D25B7-A564-4757-9EF8-22E9F67A4DE0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ba996d6bc7ba689fa6683457546517e12865e9f9","datavalue":{"value":{"entity-type":"item","numeric-id":2792239,"id":"Q2792239"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5027846$4FB271B2-BE2F-4193-BC58-33EB6E517F68","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c307579b97cfc4d908f10992c4ec4a635ec708cf","datavalue":{"value":{"entity-type":"item","numeric-id":2974243,"id":"Q2974243"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5027846$48739FA4-680A-49BD-9BC2-60D9DC765272","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"1772b144b2768272570676b67545c32e951ef329","datavalue":{"value":{"entity-type":"item","numeric-id":2977622,"id":"Q2977622"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5027846$909976B2-4721-4F91-8135-7BF6A7F11A9F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"2c2393e97e64ee18f1cafb22397a643f4447eabc","datavalue":{"value":{"entity-type":"item","numeric-id":4003793,"id":"Q4003793"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5027846$C42B3043-3E17-4A0C-8410-93B346A81942","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"d9caea083bf7c9f03a664fcc4d0d86d517ea8f63","datavalue":{"value":{"entity-type":"item","numeric-id":2821412,"id":"Q2821412"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5027846$6FEBC5A8-C3F3-44D5-BD49-6E06A34247ED","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"e979d09e42a4c595d73cfdd956e2ac16f5afa83f","datavalue":{"value":{"entity-type":"item","numeric-id":4427418,"id":"Q4427418"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5027846$02472365-432E-4AD7-BA61-4D9C60F9C65F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"b280a35d337f72a46334fde305c42385f004b06f","datavalue":{"value":{"entity-type":"item","numeric-id":1898098,"id":"Q1898098"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5027846$DC5BFD91-E3E6-423B-9CE5-0295700CD2FE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"59dd219cb8c05f45253c578e554d981c410cedb8","datavalue":{"value":{"entity-type":"item","numeric-id":2798500,"id":"Q2798500"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5027846$F20DFA8D-BDD3-4B2A-82A7-7E81AFC402EF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c17eaa70f786f0156a92555461f88026124b94da","datavalue":{"value":{"entity-type":"item","numeric-id":2821381,"id":"Q2821381"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5027846$76A7B2DF-09D9-4B34-B186-D48524C3B284","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"dea4f83b7533acb8a5d1993dc17049b0b83d5261","datavalue":{"value":{"entity-type":"item","numeric-id":2792951,"id":"Q2792951"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5027846$C4916374-6C4D-4316-8BA4-FCC3B9CBF1F7","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"7d28953bd0f0c2d8508713f8e55254124cfc990d","datavalue":{"value":{"entity-type":"item","numeric-id":6544798,"id":"Q6544798"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5027846$8A0B0EB8-B154-4591-8F00-A8F2A050FC8D","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"f2ab4a6ae53ff70a85f1fba25008ea5dc7ece418","datavalue":{"value":{"entity-type":"item","numeric-id":441449,"id":"Q441449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"5a065917c27773e79a7d4cfa991a878e7194f1e9","datavalue":{"value":{"amount":"+0.7174185514450073","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":"Q5027846$1FE0D573-2C9E-4359-AB23-43F77020A646","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"def5a16c00627f6d5c1824d007e2b4fc7024f24c","datavalue":{"value":{"entity-type":"item","numeric-id":3423822,"id":"Q3423822"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"7ee94cabc6641b05c1452c85be09829699165232","datavalue":{"value":{"amount":"+0.6708234548568726","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":"Q5027846$5DFF0340-1724-45EF-819D-39D03270EC4D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"d287bed7cc1f80df269a128b144228bdfb33a3c2","datavalue":{"value":{"entity-type":"item","numeric-id":1898098,"id":"Q1898098"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"42f62d4c88e31e73dd8525bae5d7a0fef15ff810","datavalue":{"value":{"amount":"+0.6706973314285278","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":"Q5027846$8F66AEFF-2E69-49E7-8E9F-0939AB37152C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"422c822ccd7d72a97a002a564ea4870336cc286a","datavalue":{"value":{"entity-type":"item","numeric-id":2925112,"id":"Q2925112"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"34c682ed6b55b8c3b03a30963398c3cf31f271ba","datavalue":{"value":{"amount":"+0.6706646084785461","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":"Q5027846$3EE65483-EF34-432B-AA00-4E1F5FA41D22","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"29217907cc991c793efcca48c946afd7d6d70a97","datavalue":{"value":{"entity-type":"item","numeric-id":1640705,"id":"Q1640705"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"a3fef56b70cf372775b9f84d84ff01d7cc0aa83c","datavalue":{"value":{"amount":"+0.6677386164665222","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":"Q5027846$527873B1-3F47-45E9-8EBB-EF51082D546A","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:5027846","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:5027846"}}}}}