{"id":"https://openalex.org/W4407781908","doi":"https://doi.org/10.1109/lra.2025.3543967","title":"Sensor-Based Adaptive Robust Torque Control for Flexible Joints","display_name":"Sensor-Based Adaptive Robust Torque Control for Flexible Joints","publication_year":2025,"publication_date":"2025-02-20","ids":{"openalex":"https://openalex.org/W4407781908","doi":"https://doi.org/10.1109/lra.2025.3543967"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3543967","doi":"https://doi.org/10.1109/lra.2025.3543967","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3543967","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","jufo-2","ki-jl-1","norway-1"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","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/A5112117846","display_name":"Junjie Dai","orcid":"https://orcid.org/0000-0001-6119-2905","observed_orcids":["https://orcid.org/0000-0001-6119-2905"]},"institutions":[{"id":"https://openalex.org/I4210165339","display_name":"Ningbo Institute of Industrial Technology","ror":"https://ror.org/05nqg3g04","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165339"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junjie Dai","raw_affiliation_strings":["Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo Institute of Materials Technology and Engineering, Ningbo, China"],"raw_orcid":"https://orcid.org/0000-0001-6119-2905","affiliations":[{"raw_affiliation_string":"Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo Institute of Materials Technology and Engineering, Ningbo, China","institution_ids":["https://openalex.org/I4210165339"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101500342","display_name":"Chin-Yin Chen","orcid":"https://orcid.org/0000-0001-5868-5813","observed_orcids":["https://orcid.org/0000-0001-5868-5813"]},"institutions":[{"id":"https://openalex.org/I4210165339","display_name":"Ningbo Institute of Industrial Technology","ror":"https://ror.org/05nqg3g04","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165339"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chin-Yin Chen","raw_affiliation_strings":["Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo Institute of Materials Technology and Engineering, Ningbo, China"],"raw_orcid":"https://orcid.org/0000-0001-5868-5813","affiliations":[{"raw_affiliation_string":"Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo Institute of Materials Technology and Engineering, Ningbo, China","institution_ids":["https://openalex.org/I4210165339"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Ying Zhong","orcid":"https://orcid.org/0009-0006-8297-3851","observed_orcids":["https://orcid.org/0009-0006-8297-3851"]},"institutions":[{"id":"https://openalex.org/I4210165339","display_name":"Ningbo Institute of Industrial Technology","ror":"https://ror.org/05nqg3g04","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165339"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ying Zhong","raw_affiliation_strings":["Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo Institute of Materials Technology and Engineering, Ningbo, China"],"raw_orcid":"https://orcid.org/0009-0006-8297-3851","affiliations":[{"raw_affiliation_string":"Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo Institute of Materials Technology and Engineering, Ningbo, China","institution_ids":["https://openalex.org/I4210165339"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059541676","display_name":"He Guo","orcid":"https://orcid.org/0000-0003-0955-7692","observed_orcids":["https://orcid.org/0000-0003-0955-7692","https://orcid.org/0009-0008-1987-1160"]},"institutions":[{"id":"https://openalex.org/I4210165339","display_name":"Ningbo Institute of Industrial Technology","ror":"https://ror.org/05nqg3g04","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165339"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"He Guo","raw_affiliation_strings":["Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo Institute of Materials Technology and Engineering, Ningbo, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo Institute of Materials Technology and Engineering, Ningbo, China","institution_ids":["https://openalex.org/I4210165339"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018655903","display_name":"Guilin Yang","orcid":"https://orcid.org/0000-0001-6144-3401","observed_orcids":["https://orcid.org/0000-0001-6144-3401"]},"institutions":[{"id":"https://openalex.org/I4210165339","display_name":"Ningbo Institute of Industrial Technology","ror":"https://ror.org/05nqg3g04","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165339"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guilin Yang","raw_affiliation_strings":["Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo Institute of Materials Technology and Engineering, Ningbo, China"],"raw_orcid":"https://orcid.org/0000-0001-6144-3401","affiliations":[{"raw_affiliation_string":"Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo Institute of Materials Technology and Engineering, Ningbo, China","institution_ids":["https://openalex.org/I4210165339"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101946575","display_name":"Chi Zhang","orcid":"https://orcid.org/0000-0002-1097-7101","observed_orcids":["https://orcid.org/0000-0002-1097-7101","https://orcid.org/0009-0008-0592-2502"]},"institutions":[{"id":"https://openalex.org/I4210165339","display_name":"Ningbo Institute of Industrial Technology","ror":"https://ror.org/05nqg3g04","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165339"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chi Zhang","raw_affiliation_strings":["Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo Institute of Materials Technology and Engineering, Ningbo, China"],"raw_orcid":"https://orcid.org/0000-0002-1097-7101","affiliations":[{"raw_affiliation_string":"Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo Institute of Materials Technology and Engineering, Ningbo, China","institution_ids":["https://openalex.org/I4210165339"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4210165339"],"apc_list":{"value":2645,"currency":"USD","value_usd":2645},"apc_paid":null,"fwci":1.1759,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.74439831,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":93,"max":96},"biblio":{"volume":"10","issue":"4","first_page":"3628","last_page":"3635"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.5746999979019165,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.5746999979019165,"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/T13644","display_name":"Control Systems in Engineering","score":0.3474000096321106,"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"}},{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.04280000180006027,"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/joint-torque-control","display_name":"joint torque control","score":0.8569999933242798},{"id":"https://openalex.org/keywords/torque-sensor","display_name":"torque sensor","score":0.5590000152587891},{"id":"https://openalex.org/keywords/nonlinear-disturbance-observer","display_name":"nonlinear disturbance observer","score":0.9190000295639038},{"id":"https://openalex.org/keywords/robust-adaptive-control","display_name":"robust adaptive control","score":0.9940000176429749},{"id":"https://openalex.org/keywords/lumped-disturbance-estimation","display_name":"lumped disturbance estimation","score":0.7850000262260437},{"id":"https://openalex.org/keywords/friction-estimation","display_name":"friction estimation","score":0.7369999885559082},{"id":"https://openalex.org/keywords/parameter-uncertainty","display_name":"parameter uncertainty","score":0.5580000281333923},{"id":"https://openalex.org/keywords/uncertain-nonlinearities","display_name":"uncertain nonlinearities","score":0.8040000200271606},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.8399999737739563},{"id":"https://openalex.org/keywords/robot-manipulators","display_name":"robot manipulators","score":0.4869999885559082}],"concepts":[{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6652799844741821},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5654124021530151},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4824250638484955},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.40092962980270386},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3512982726097107},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3245541453361511},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1730133593082428},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15876927971839905},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3543967","doi":"https://doi.org/10.1109/lra.2025.3543967","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3543967","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","jufo-2","ki-jl-1","norway-1"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"sustainable_development_goals_aurora":[{"score":0.8399999737739563,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"study_designs":[],"awards":[{"id":"https://openalex.org/G7039442583","display_name":null,"funder_award_id":"U23A20616","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G895697077","display_name":null,"funder_award_id":"U21A20121","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1990007065","https://openalex.org/W1995343612","https://openalex.org/W2166271005","https://openalex.org/W2315931961","https://openalex.org/W2345097151","https://openalex.org/W2561255252","https://openalex.org/W2791709924","https://openalex.org/W2889571560","https://openalex.org/W2952913193","https://openalex.org/W2963139447","https://openalex.org/W2968260563","https://openalex.org/W2994703888","https://openalex.org/W3119553106","https://openalex.org/W3151832812","https://openalex.org/W3202471009","https://openalex.org/W3215853544","https://openalex.org/W4226437765","https://openalex.org/W4285102602","https://openalex.org/W4285791416","https://openalex.org/W4313170172","https://openalex.org/W4386494487","https://openalex.org/W4400679825","https://openalex.org/W4408016923"],"related_works":["https://openalex.org/W1982160337","https://openalex.org/W1971380437","https://openalex.org/W1983548084","https://openalex.org/W2141691317","https://openalex.org/W2110846987","https://openalex.org/W2160609742","https://openalex.org/W1997414638","https://openalex.org/W2031091109","https://openalex.org/W2049254832","https://openalex.org/W2383436541"],"abstract_inverted_index":{"Achieving":[0],"fast":[1],"transient":[2],"response":[3],"and":[4,22,43,74,95,131],"high":[5],"steady-state":[6],"tracking":[7,100],"accuracy":[8],"of":[9,101,107,120,134],"joint":[10,14,46,103,139],"torque":[11,32,56,66,78,140],"for":[12,138],"flexible":[13],"systems":[15],"with":[16,145],"dynamic":[17],"constraints,":[18],"various":[19],"parameter":[20],"uncertainties,":[21],"uncertain":[23],"nonlinearities":[24],"is":[25,39,58,111],"always":[26],"challenging.":[27],"To":[28],"this":[29],"end,":[30],"a":[31,48,69,118],"control":[33,79,87,141],"scheme":[34],"based":[35],"on":[36],"multi-torque":[37],"sensors":[38],"proposed.":[40],"After":[41],"analyzing":[42],"transforming":[44],"the":[45,53,65,86,92,98,102,108,129,135],"dynamics,":[47],"lumped":[49],"disturbance":[50,71],"signal,":[51],"including":[52],"reducer":[54],"drive's":[55],"loss,":[57],"constructed,":[59],"which":[60],"can":[61],"be":[62],"measured":[63],"by":[64,114,142],"sensors.":[67],"Then,":[68],"nonlinear":[70],"observer":[72],"(NDOB)":[73],"an":[75],"adaptive":[76],"robust":[77],"(ARTC)":[80],"law":[81],"are":[82,123],"introduced":[83],"to":[84],"synthesize":[85],"scheme,":[88],"where":[89],"NDOB":[90],"estimates":[91],"motor's":[93],"friction,":[94],"ARTC":[96],"realizes":[97],"stable":[99],"torque.":[104],"The":[105,126],"performance":[106,133],"proposed":[109,136],"controller":[110],"theoretically":[112],"ensured":[113],"Lyapunov":[115],"analysis.":[116],"Finally,":[117],"series":[119],"hardware":[121],"experiments":[122],"carried":[124],"out.":[125],"results":[127],"suggest":[128],"effectiveness":[130],"superior":[132],"method":[137],"comparing":[143],"it":[144],"other":[146],"traditional":[147],"methods.":[148]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2}],"updated_date":"2026-09-24T07:57:37.273135","created_date":"2025-10-10T00:00:00"}