{"id":"https://openalex.org/W2196712401","doi":"https://doi.org/10.1109/iros.2015.7353646","title":"Improving position precision of a servo-controlled elastic cable driven surgical robot using Unscented Kalman Filter","display_name":"Improving position precision of a servo-controlled elastic cable driven surgical robot using Unscented Kalman Filter","publication_year":2015,"publication_date":"2015-09-01","ids":{"openalex":"https://openalex.org/W2196712401","doi":"https://doi.org/10.1109/iros.2015.7353646","mag":"2196712401"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2015.7353646","doi":"https://doi.org/10.1109/iros.2015.7353646","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353646","pdf_url":null,"source":{"id":"https://openalex.org/S4393918188","display_name":"IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":"2153-0858","issn":["2153-0858"],"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":["jufo-1","norway-1"],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5041855717","display_name":"Mohammad Haghighipanah","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mohammad Haghighipanah","raw_affiliation_strings":["Department of Electrical Engineering"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025128323","display_name":"Yangming Li","orcid":"https://orcid.org/0000-0002-9794-8054","observed_orcids":["https://orcid.org/0000-0002-9794-8054"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yangming Li","raw_affiliation_strings":["Department of Electrical Engineering"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019362891","display_name":"Muneaki Miyasaka","orcid":"https://orcid.org/0000-0002-5216-6876","observed_orcids":["https://orcid.org/0000-0002-5216-6876"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Muneaki Miyasaka","raw_affiliation_strings":["Department of Mechanical Engineering"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074967911","display_name":"Blake Hannaford","orcid":"https://orcid.org/0000-0001-7370-4920","observed_orcids":["https://orcid.org/0000-0001-7370-4920"]},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Blake Hannaford","raw_affiliation_strings":["Departments of Electrical Engineering Mechanical Engineering, and surges University of Washington, Seattle, WA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Departments of Electrical Engineering Mechanical Engineering, and surges University of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I201448701"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":8.4031,"has_fulltext":false,"cited_by_count":34,"citation_normalized_percentile":{"value":0.98824227,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"2030","last_page":"2036"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.7060999870300293,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.7060999870300293,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.21850000321865082,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13644","display_name":"Control Systems in Engineering","score":0.019300000742077827,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/unscented-kalman-filter","display_name":"unscented Kalman filter","score":0.9539999961853027},{"id":"https://openalex.org/keywords/state-estimation","display_name":"state estimation","score":0.8510000109672546},{"id":"https://openalex.org/keywords/position-precision","display_name":"position precision","score":0.5889999866485596},{"id":"https://openalex.org/keywords/servo-control","display_name":"servo control","score":0.7310000061988831},{"id":"https://openalex.org/keywords/elastic-links","display_name":"elastic links","score":0.7009999752044678}],"concepts":[{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.833477795124054},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6384047269821167},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6158918142318726},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5219587683677673},{"id":"https://openalex.org/C107354338","wikidata":"https://www.wikidata.org/wiki/Q1937153","display_name":"Servo","level":2,"score":0.509856641292572},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5067828297615051},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.429298996925354},{"id":"https://openalex.org/C761482","wikidata":"https://www.wikidata.org/wiki/Q118093","display_name":"Transmission (telecommunications)","level":2,"score":0.42512714862823486},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3826479911804199},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3332158327102661},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21805214881896973},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.1027323305606842},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2015.7353646","doi":"https://doi.org/10.1109/iros.2015.7353646","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353646","pdf_url":null,"source":{"id":"https://openalex.org/S4393918188","display_name":"IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":"2153-0858","issn":["2153-0858"],"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":["jufo-1","norway-1"],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320332161","display_name":"National Institutes of Health","ror":"https://ror.org/01cwqze88"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1581808154","https://openalex.org/W1749494163","https://openalex.org/W1968732724","https://openalex.org/W1969140852","https://openalex.org/W1980663843","https://openalex.org/W2020934227","https://openalex.org/W2025939589","https://openalex.org/W2062691475","https://openalex.org/W2088392499","https://openalex.org/W2126423185","https://openalex.org/W2132203209","https://openalex.org/W2160899683","https://openalex.org/W2169135280","https://openalex.org/W2189050031","https://openalex.org/W2266380092","https://openalex.org/W2901136733"],"related_works":["https://openalex.org/W2132203209","https://openalex.org/W2409304865","https://openalex.org/W3022031724","https://openalex.org/W2189050031","https://openalex.org/W2321643572","https://openalex.org/W2594276447","https://openalex.org/W7154369393","https://openalex.org/W4313146516","https://openalex.org/W1980663843","https://openalex.org/W3125515825"],"abstract_inverted_index":{"Cable":[0],"driven":[1],"power":[2],"transmission":[3,25,138],"is":[4,139],"popular":[5],"in":[6],"many":[7],"manipulator":[8],"applications":[9],"including":[10],"medical":[11],"arms.":[12],"In":[13,39],"spite":[14],"of":[15,48,72,121],"advantages":[16],"obtained":[17],"by":[18],"removing":[19],"motors":[20],"from":[21,77],"the":[22,43,49,57,73,96,105,110,122,132,137],"mechanism,":[23],"cable":[24,34,37,88],"introduces":[26],"higher":[27],"non-linearity":[28],"and":[29,36,46,104,119,126],"more":[30,111],"uncertainties":[31],"such":[32],"as":[33],"stretch":[35],"coupling.":[38],"order":[40],"to":[41,86],"improve":[42],"control":[44],"precision":[45,103],"robustness":[47],"Raven-II":[50,74],"surgical":[51],"robot,":[52],"particularly":[53],"for":[54,64,116],"automation":[55],"applications,":[56],"Unscented":[58],"Kalman":[59],"Filter":[60],"(UKF)":[61],"was":[62,83,134],"adopted":[63],"state":[65,70],"estimation.":[66],"The":[67,80,91,114],"UKF":[68,82],"estimated":[69],"variables":[71],"dynamic":[75],"model":[76],"sensor":[78],"data.":[79],"dual":[81],"used":[84],"offline":[85],"estimate":[87],"coupling":[89],"parameters.":[90],"experimental":[92],"results":[93],"showed":[94],"that":[95],"proposed":[97],"method":[98],"improved":[99],"joint":[100],"position":[101],"estimation":[102,106],"consistency,":[107],"especially":[108],"on":[109],"elastic":[112],"links.":[113],"improvements":[115],"links":[117],"2":[118],"3":[120],"Raven":[123],"were":[124],"36.76%,":[125],"62.99%,":[127],"respectively.":[128],"For":[129],"link":[130],"1":[131],"improvement":[133],"1.43%":[135],"because":[136],"very":[140],"stiff.":[141]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":6},{"year":2016,"cited_by_count":6}],"updated_date":"2026-10-30T12:39:25.321706","created_date":"2016-06-24T00:00:00"}