{"id":"https://openalex.org/W2740229343","doi":"https://doi.org/10.1007/s40815-017-0358-2","title":"Adaptive Impedance Force Controller Design for Robot Manipulator including Actuator Dynamics","display_name":"Adaptive Impedance Force Controller Design for Robot Manipulator including Actuator Dynamics","publication_year":2017,"publication_date":"2017-08-01","ids":{"openalex":"https://openalex.org/W2740229343","doi":"https://doi.org/10.1007/s40815-017-0358-2","mag":"2740229343"},"language":"en","primary_location":{"id":"doi:10.1007/s40815-017-0358-2","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s40815-017-0358-2","pdf_url":null,"source":{"id":"https://openalex.org/S18792341","display_name":"International Journal of Fuzzy Systems","issn_l":"1562-2479","issn":["1562-2479","2199-3211"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Fuzzy Systems","raw_type":"journal-article"},"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/A5055356358","display_name":"Zong-Yu Jhan","orcid":null},"institutions":[{"id":"https://openalex.org/I162838928","display_name":"National Chung Hsing University","ror":"https://ror.org/05vn3ca78","country_code":"TW","type":"education","lineage":["https://openalex.org/I162838928"]}],"countries":["TW"],"is_corresponding":true,"raw_author_name":"Zong-Yu Jhan","raw_affiliation_strings":["Department of Mechanical Engineering, National Chung Hsing University, Taichung, 402, Taiwan, ROC"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National Chung Hsing University, Taichung, 402, Taiwan, ROC","institution_ids":["https://openalex.org/I162838928"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025400748","display_name":"Ching\u2010Hung Lee","orcid":"https://orcid.org/0000-0003-3081-362X"},"institutions":[{"id":"https://openalex.org/I162838928","display_name":"National Chung Hsing University","ror":"https://ror.org/05vn3ca78","country_code":"TW","type":"education","lineage":["https://openalex.org/I162838928"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Ching-Hung Lee","raw_affiliation_strings":["Department of Mechanical Engineering, National Chung Hsing University, Taichung, 402, Taiwan, ROC"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National Chung Hsing University, Taichung, 402, Taiwan, ROC","institution_ids":["https://openalex.org/I162838928"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5055356358"],"corresponding_institution_ids":["https://openalex.org/I162838928"],"apc_list":{"value":2690,"currency":"EUR","value_usd":3490},"apc_paid":null,"fwci":1.0164,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.77639817,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"19","issue":"6","first_page":"1739","last_page":"1749"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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":0.9998999834060669,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9961000084877014,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9936000108718872,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8130443692207336},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5895954370498657},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5813429951667786},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5520181059837341},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5242217779159546},{"id":"https://openalex.org/keywords/impedance-parameters","display_name":"Impedance parameters","score":0.5152350068092346},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.5080757141113281},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.4970097839832306},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.4689685106277466},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.462654173374176},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.4561135768890381},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.44448965787887573},{"id":"https://openalex.org/keywords/computational-intelligence","display_name":"Computational intelligence","score":0.438678115606308},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.4237046241760254},{"id":"https://openalex.org/keywords/serial-manipulator","display_name":"Serial manipulator","score":0.4105222523212433},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.37856408953666687},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.37411051988601685},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.2561259865760803},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20770472288131714},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1982010006904602},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1686934530735016},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0823817253112793},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.07113638520240784}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8130443692207336},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5895954370498657},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5813429951667786},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5520181059837341},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5242217779159546},{"id":"https://openalex.org/C113805353","wikidata":"https://www.wikidata.org/wiki/Q13424600","display_name":"Impedance parameters","level":3,"score":0.5152350068092346},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.5080757141113281},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.4970097839832306},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.4689685106277466},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.462654173374176},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.4561135768890381},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.44448965787887573},{"id":"https://openalex.org/C139502532","wikidata":"https://www.wikidata.org/wiki/Q1122090","display_name":"Computational intelligence","level":2,"score":0.438678115606308},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.4237046241760254},{"id":"https://openalex.org/C120910303","wikidata":"https://www.wikidata.org/wiki/Q7454692","display_name":"Serial manipulator","level":4,"score":0.4105222523212433},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.37856408953666687},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.37411051988601685},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.2561259865760803},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20770472288131714},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1982010006904602},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1686934530735016},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0823817253112793},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.07113638520240784},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/s40815-017-0358-2","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s40815-017-0358-2","pdf_url":null,"source":{"id":"https://openalex.org/S18792341","display_name":"International Journal of Fuzzy Systems","issn_l":"1562-2479","issn":["1562-2479","2199-3211"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Fuzzy Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.7799999713897705,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W1509092939","https://openalex.org/W1509235676","https://openalex.org/W1630353629","https://openalex.org/W1754204421","https://openalex.org/W1913653590","https://openalex.org/W1967377907","https://openalex.org/W1976158015","https://openalex.org/W1976476693","https://openalex.org/W2002866048","https://openalex.org/W2014530840","https://openalex.org/W2016958754","https://openalex.org/W2034331555","https://openalex.org/W2049654898","https://openalex.org/W2065480266","https://openalex.org/W2065676327","https://openalex.org/W2072812226","https://openalex.org/W2085333194","https://openalex.org/W2095210847","https://openalex.org/W2098926291","https://openalex.org/W2099276581","https://openalex.org/W2104727184","https://openalex.org/W2112158973","https://openalex.org/W2118293770","https://openalex.org/W2121354282","https://openalex.org/W2130135496","https://openalex.org/W2145834026","https://openalex.org/W2149620520","https://openalex.org/W2154174243","https://openalex.org/W2156489987","https://openalex.org/W2157577511","https://openalex.org/W2157992698","https://openalex.org/W2167395326","https://openalex.org/W2169440744","https://openalex.org/W2171900491","https://openalex.org/W2290317130","https://openalex.org/W2294666930","https://openalex.org/W2323540957","https://openalex.org/W2488271880","https://openalex.org/W2511019681","https://openalex.org/W2616010596","https://openalex.org/W3082908141","https://openalex.org/W4285719527","https://openalex.org/W6835552651"],"related_works":["https://openalex.org/W2786196354","https://openalex.org/W2071387541","https://openalex.org/W1607726904","https://openalex.org/W2789837488","https://openalex.org/W1983135609","https://openalex.org/W2786003999","https://openalex.org/W4378965995","https://openalex.org/W4229014760","https://openalex.org/W3139430168","https://openalex.org/W1988194710"],"abstract_inverted_index":null,"counts_by_year":[{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}