{"id":"https://openalex.org/W3083327255","doi":"https://doi.org/10.3233/jae-209327","title":"A method of sensorless collision detection based on motor current for robot manipulator","display_name":"A method of sensorless collision detection based on motor current for robot manipulator","publication_year":2020,"publication_date":"2020-09-04","ids":{"openalex":"https://openalex.org/W3083327255","doi":"https://doi.org/10.3233/jae-209327","mag":"3083327255"},"language":"en","primary_location":{"id":"doi:10.3233/jae-209327","doi":"https://doi.org/10.3233/jae-209327","is_oa":false,"landing_page_url":"https://doi.org/10.3233/jae-209327","pdf_url":null,"source":{"id":"https://openalex.org/S112770955","display_name":"International Journal of Applied Electromagnetics and Mechanics","issn_l":"1383-5416","issn":["1383-5416","1875-8800"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-c","jufo-1","norway-1","poland-70","russia-white-list-3"],"host_organization":"https://openalex.org/P4310318577","host_organization_name":"IOS Press","host_organization_lineage":["https://openalex.org/P4310318577"],"host_organization_lineage_names":["IOS Press"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Applied Electromagnetics and Mechanics","raw_type":"journal-article"},"volume":null,"type":"article","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/A5102792495","display_name":"Linjie Ma","orcid":"https://orcid.org/0009-0007-4079-5249","observed_orcids":["https://orcid.org/0009-0007-4079-5249"]},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Linjie Ma","raw_affiliation_strings":[", Xi\u2019an Jiaotong University, , , China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":", Xi\u2019an Jiaotong University, , , China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003742381","display_name":"Longlei Dong","orcid":"https://orcid.org/0000-0002-1099-725X","observed_orcids":["https://orcid.org/0000-0002-1099-725X","https://orcid.org/0000-0001-6650-4699"]},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Longlei Dong","raw_affiliation_strings":[", Xi\u2019an Jiaotong University, , , China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":", Xi\u2019an Jiaotong University, , , China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101959408","display_name":"Yi Hong Han","orcid":"https://orcid.org/0000-0002-4198-8188","observed_orcids":["https://orcid.org/0000-0002-4198-8188"]},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yi Han","raw_affiliation_strings":[", Xi\u2019an Jiaotong University, , , China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":", Xi\u2019an Jiaotong University, , , China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Jian Yan","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Yan","raw_affiliation_strings":[", Xi\u2019an Jiaotong University, , , China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":", Xi\u2019an Jiaotong University, , , China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064079145","display_name":"Jiaming Zhou","orcid":"https://orcid.org/0000-0002-2758-8196","observed_orcids":["https://orcid.org/0000-0002-2758-8196","https://orcid.org/0009-0001-4760-9708","https://orcid.org/0009-0002-4819-4572"]},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiaming Zhou","raw_affiliation_strings":[", Xi\u2019an Jiaotong University, , , China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":", Xi\u2019an Jiaotong University, , , China","institution_ids":["https://openalex.org/I87445476"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5003742381"],"corresponding_institution_ids":["https://openalex.org/I87445476"],"apc_list":{"value":4150,"currency":"USD","value_usd":4150},"apc_paid":null,"fwci":0.1238,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.44201847,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":88,"max":96},"biblio":{"volume":"64","issue":"1-4","first_page":"237","last_page":"244"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.7958999872207642,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.7958999872207642,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.08179999887943268,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.014999999664723873,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot-manipulators","display_name":"robot manipulators","score":0.7210000157356262},{"id":"https://openalex.org/keywords/neural-network","display_name":"artificial neural networks","score":0.7870000004768372},{"id":"https://openalex.org/keywords/collaborative-robots","display_name":"collaborative robots","score":0.777999997138977},{"id":"https://openalex.org/keywords/robot-safety","display_name":"robot safety","score":0.7670000195503235}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.744251549243927},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.701993465423584},{"id":"https://openalex.org/C199668693","wikidata":"https://www.wikidata.org/wiki/Q1550329","display_name":"Collision detection","level":3,"score":0.5956445932388306},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5752550363540649},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5368127822875977},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.5242024660110474},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4778044819831848},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4472259283065796},{"id":"https://openalex.org/C167740415","wikidata":"https://www.wikidata.org/wiki/Q2876213","display_name":"Aerospace","level":2,"score":0.439586877822876},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.41694480180740356},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.37748128175735474},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.34174424409866333},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3212447464466095},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28478771448135376},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0704537034034729},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.060421258211135864},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.3233/jae-209327","doi":"https://doi.org/10.3233/jae-209327","is_oa":false,"landing_page_url":"https://doi.org/10.3233/jae-209327","pdf_url":null,"source":{"id":"https://openalex.org/S112770955","display_name":"International Journal of Applied Electromagnetics and Mechanics","issn_l":"1383-5416","issn":["1383-5416","1875-8800"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-c","jufo-1","norway-1","poland-70","russia-white-list-3"],"host_organization":"https://openalex.org/P4310318577","host_organization_name":"IOS Press","host_organization_lineage":["https://openalex.org/P4310318577"],"host_organization_lineage_names":["IOS Press"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Applied Electromagnetics and Mechanics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"sustainable_development_goals_aurora":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, justice, and strong institutions","score":0.6000000238418579}],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":5,"referenced_works":["https://openalex.org/W2015016121","https://openalex.org/W2116139612","https://openalex.org/W2561340204","https://openalex.org/W2762248135","https://openalex.org/W2887145159"],"related_works":["https://openalex.org/W2950573157","https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3138645172","https://openalex.org/W2148917807","https://openalex.org/W2257960210","https://openalex.org/W2028510469","https://openalex.org/W913501818","https://openalex.org/W4379525781","https://openalex.org/W1987135480"],"abstract_inverted_index":{"In":[0],"recent":[1],"years,":[2],"the":[3,32,39,59,67,74,85,89,92,95,106,112,129,132],"collaborative":[4],"robots":[5],"have":[6],"been":[7,125],"widely":[8],"used":[9],"in":[10,20],"vast":[11],"fields,":[12],"like":[13],"aerospace,":[14],"industrial,":[15],"medical":[16],"and":[17,27,66],"household.":[18],"Therefore,":[19],"robot":[21,35],"collision":[22,46],"detection,":[23],"it":[24],"is":[25,54,61,70],"more":[26,28],"important":[29],"to":[30,72,83,101,127],"ensure":[31],"safety":[33],"of":[34,42,58,76,88,108,121,131],"system.":[36],"Compared":[37],"with":[38,118],"traditional":[40],"methods":[41],"installing":[43],"sensors,":[44],"a":[45,116],"detection":[47],"algorithm":[48,79,96],"based":[49],"on":[50],"neural":[51,64],"network":[52],"(NN)":[53],"proposed.":[55],"The":[56],"current":[57],"joint":[60],"estimated":[62],"by":[63],"network,":[65],"threshold":[68],"value":[69],"set":[71],"judge":[73],"occurrence":[75],"collision.":[77],"This":[78],"does":[80],"not":[81],"need":[82],"use":[84],"dynamic":[86],"model":[87],"robot,":[90],"nor":[91],"acceleration.":[93],"Moreover,":[94],"can":[97],"be":[98],"easily":[99],"applied":[100],"existing":[102],"systems":[103],"without":[104],"changing":[105],"structure":[107],"robots,":[109],"which":[110],"reduces":[111],"production":[113],"cost.":[114],"And":[115],"prototype":[117],"one":[119],"degree":[120],"freedom":[122],"(DOF)":[123],"has":[124],"built":[126],"verify":[128],"validity":[130],"algorithm.":[133]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2022,"cited_by_count":1}],"updated_date":"2026-10-16T09:59:22.235173","created_date":"2025-10-10T00:00:00"}