# A Passivity-Based Approach for Stable Patient–Robot Interaction in Haptics-Enabled Rehabilitation Systems: Modulated Time-Domain Passivity Control

> Research article (IEEE Transactions on Control Systems Technology, 2016) · cited 75× · AI/ML

**Wikidata**: [openalex:W2514498086](https://www.wikidata.org/wiki/openalex:W2514498086)  
**Source**: https://4ort.xyz/entity/a-passivity-based-approach-for-stable-patientrobot-interaction-in-haptics-enabled-rehabilitation-systems-modulated-time-