{"id":"https://openalex.org/W4390587849","doi":"https://doi.org/10.1108/ir-08-2023-0188","title":"A resistance torque compensation algorithm based on Luenberger observer for minimally invasive surgical robot","display_name":"A resistance torque compensation algorithm based on Luenberger observer for minimally invasive surgical robot","publication_year":2024,"publication_date":"2024-01-04","ids":{"openalex":"https://openalex.org/W4390587849","doi":"https://doi.org/10.1108/ir-08-2023-0188"},"language":"en","primary_location":{"id":"doi:10.1108/ir-08-2023-0188","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-08-2023-0188","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: the international journal of robotics research and application","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/A5054145129","display_name":"Hongqiang Sang","orcid":"https://orcid.org/0000-0003-0619-6668"},"institutions":[{"id":"https://openalex.org/I198091727","display_name":"Tiangong University","ror":"https://ror.org/00xsr9m91","country_code":"CN","type":"education","lineage":["https://openalex.org/I198091727"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongqiang Sang","raw_affiliation_strings":["School of Mechanical Engineering, Tiangong University, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Tiangong University, Tianjin, China","institution_ids":["https://openalex.org/I198091727"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030658164","display_name":"Fang Huang","orcid":null},"institutions":[{"id":"https://openalex.org/I198091727","display_name":"Tiangong University","ror":"https://ror.org/00xsr9m91","country_code":"CN","type":"education","lineage":["https://openalex.org/I198091727"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fang Huang","raw_affiliation_strings":["School of Mechanical Engineering, Tiangong University, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Tiangong University, Tianjin, China","institution_ids":["https://openalex.org/I198091727"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104283896","display_name":"Wei L\u00fc","orcid":"https://orcid.org/0000-0003-3471-6325"},"institutions":[{"id":"https://openalex.org/I198091727","display_name":"Tiangong University","ror":"https://ror.org/00xsr9m91","country_code":"CN","type":"education","lineage":["https://openalex.org/I198091727"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Lu","raw_affiliation_strings":["School of Mechanical Engineering, Tiangong University, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Tiangong University, Tianjin, China","institution_ids":["https://openalex.org/I198091727"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102908169","display_name":"Rui Han","orcid":"https://orcid.org/0000-0002-9085-6544"},"institutions":[{"id":"https://openalex.org/I198091727","display_name":"Tiangong University","ror":"https://ror.org/00xsr9m91","country_code":"CN","type":"education","lineage":["https://openalex.org/I198091727"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rui Han","raw_affiliation_strings":["School of Mechanical Engineering, Tiangong University, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Tiangong University, Tianjin, China","institution_ids":["https://openalex.org/I198091727"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5115590490","display_name":"Fen Liu","orcid":"https://orcid.org/0009-0005-2469-7513"},"institutions":[{"id":"https://openalex.org/I198091727","display_name":"Tiangong University","ror":"https://ror.org/00xsr9m91","country_code":"CN","type":"education","lineage":["https://openalex.org/I198091727"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fen Liu","raw_affiliation_strings":["School of Mechanical Engineering, Tiangong University, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Tiangong University, Tianjin, China","institution_ids":["https://openalex.org/I198091727"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I198091727"],"apc_list":null,"apc_paid":null,"fwci":0.4548,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.5519666,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"51","issue":"1","first_page":"7","last_page":"19"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9986000061035156,"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"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9986000061035156,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9966999888420105,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9919000267982483,"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/control-theory","display_name":"Control theory (sociology)","score":0.7598973512649536},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.67035311460495},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.5273733139038086},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.5270897150039673},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.5069637298583984},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4900780916213989},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4805484414100647},{"id":"https://openalex.org/keywords/reduction","display_name":"Reduction (mathematics)","score":0.4413064122200012},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.4402286112308502},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.36574071645736694},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3219654858112335},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2023020088672638},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18082460761070251},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.11286437511444092}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7598973512649536},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.67035311460495},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.5273733139038086},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.5270897150039673},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.5069637298583984},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4900780916213989},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4805484414100647},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.4413064122200012},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.4402286112308502},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.36574071645736694},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3219654858112335},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2023020088672638},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18082460761070251},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11286437511444092},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"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:10.1108/ir-08-2023-0188","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-08-2023-0188","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: the international journal of robotics research and application","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.4399999976158142}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W2140151460","https://openalex.org/W2140803682","https://openalex.org/W2167371819","https://openalex.org/W2218556868","https://openalex.org/W2563187022","https://openalex.org/W2610665011","https://openalex.org/W2772684727","https://openalex.org/W2789029145","https://openalex.org/W2884887987","https://openalex.org/W2888336039","https://openalex.org/W2910296655","https://openalex.org/W2910617149","https://openalex.org/W2954385853","https://openalex.org/W3054123979","https://openalex.org/W3093134870","https://openalex.org/W3173405485","https://openalex.org/W3191153382","https://openalex.org/W4280489849","https://openalex.org/W4283719828","https://openalex.org/W4285286991","https://openalex.org/W4288926651","https://openalex.org/W4327969341","https://openalex.org/W4362563514"],"related_works":["https://openalex.org/W1979758163","https://openalex.org/W2294490033","https://openalex.org/W4386036352","https://openalex.org/W1985052846","https://openalex.org/W2077400647","https://openalex.org/W3213378276","https://openalex.org/W2379084545","https://openalex.org/W4312935962","https://openalex.org/W1988042083","https://openalex.org/W2372125609"],"abstract_inverted_index":{"Purpose":[0],"The":[1,69,82,179],"patient-side":[2],"manipulator":[3,213],"(PSM)":[4],"achieves":[5],"high":[6,15,23,202],"torque":[7,20,52,58,123,203],"capability":[8],"by":[9,88],"combining":[10],"harmonic":[11],"servo":[12],"system":[13],"with":[14],"reduction":[16,24],"ratio":[17,25],"and":[18,29,64,76,102,119,147,170,188],"low":[19],"motor.":[21],"However,":[22],"can":[26,138,153],"increase":[27],"inertia":[28],"decrease":[30],"compliance":[31],"of":[32,39,97,117,160,173,181,211,219],"the":[33,37,40,90,95,106,113,121,130,135,158,161,174,182,208,212,217,220],"manipulator.":[34],"To":[35],"enhance":[36],"backdrivability":[38,180,210],"minimally":[41],"invasive":[42],"surgical":[43,128,198],"robot,":[44],"this":[45],"paper":[46],"aims":[47],"to":[48,111,141,156,200,215],"propose":[49],"a":[50],"resistance":[51,57,122],"compensation":[53,59],"algorithm.":[54],"Design/methodology/approach":[55],"A":[56],"algorithm":[60,192],"based":[61],"on":[62],"dynamics":[63,70],"Luenberger":[65,107,175],"observer":[66,108,176],"is":[67,109,184],"proposed.":[68],"are":[71,85,177],"established,":[72],"considering":[73],"joint":[74],"flexibility":[75,146],"an":[77,148],"improved":[78,149],"Stribeck":[79,150],"friction":[80,151],"model.":[81,163],"dynamic":[83,115,136,162],"parameters":[84],"experimentally":[86],"identified":[87],"using":[89],"least":[91],"squares":[92],"method.":[93],"With":[94],"advantages":[96],"clear":[98],"structure,":[99],"simple":[100],"implementation":[101],"fast":[103],"solution":[104],"speed,":[105],"selected":[110],"estimate":[112],"unmeasured":[114],"information":[116],"PSM":[118,183],"realize":[120],"compensation.":[124],"Findings":[125],"For":[126],"low-speed":[127],"robots,":[129],"centrifugal":[131],"force":[132],"term":[133],"in":[134,186],"model":[137,152],"be":[139,154],"simplified":[140],"reduce":[142],"computational":[143],"complexity.":[144],"Joint":[145],"considered":[155],"improve":[157,216],"accuracy":[159],"Experiment":[164],"results":[165,172],"show":[166],"that":[167],"parameter":[168],"identification":[169],"estimated":[171],"accurate.":[178],"enhanced":[185,209],"ease":[187],"smoothness.":[189],"Originality/value":[190],"This":[191],"provides":[193],"potential":[194],"application":[195],"prospects":[196],"for":[197],"robots":[199],"maintain":[201],"while":[204],"remaining":[205],"compliant.":[206],"Meanwhile,":[207],"helps":[214],"safety":[218],"preoperative":[221],"manual":[222],"adjustment.":[223]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}