{"id":"https://openalex.org/W3026603364","doi":"https://doi.org/10.1108/ir-12-2019-0246","title":"Design of admittance controller with sliding mode based on disturbance observer for elbow joint actuated by pneumatic muscles","display_name":"Design of admittance controller with sliding mode based on disturbance observer for elbow joint actuated by pneumatic muscles","publication_year":2020,"publication_date":"2020-05-19","ids":{"openalex":"https://openalex.org/W3026603364","doi":"https://doi.org/10.1108/ir-12-2019-0246","mag":"3026603364"},"language":"en","primary_location":{"id":"doi:10.1108/ir-12-2019-0246","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-12-2019-0246","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/A5112223261","display_name":"Binrui Wang","orcid":"https://orcid.org/0000-0002-8955-4055"},"institutions":[{"id":"https://openalex.org/I55538621","display_name":"China Jiliang University","ror":"https://ror.org/05v1y0t93","country_code":"CN","type":"education","lineage":["https://openalex.org/I55538621"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Binrui Wang","raw_affiliation_strings":["China Jiliang University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"China Jiliang University, Hangzhou, China","institution_ids":["https://openalex.org/I55538621"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027373493","display_name":"Jiqing Huang","orcid":null},"institutions":[{"id":"https://openalex.org/I55538621","display_name":"China Jiliang University","ror":"https://ror.org/05v1y0t93","country_code":"CN","type":"education","lineage":["https://openalex.org/I55538621"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiqing Huang","raw_affiliation_strings":["China Jiliang University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"China Jiliang University, Hangzhou, China","institution_ids":["https://openalex.org/I55538621"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101633905","display_name":"Guoyang Shen","orcid":"https://orcid.org/0009-0009-9766-4295"},"institutions":[{"id":"https://openalex.org/I55538621","display_name":"China Jiliang University","ror":"https://ror.org/05v1y0t93","country_code":"CN","type":"education","lineage":["https://openalex.org/I55538621"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guoyang Shen","raw_affiliation_strings":["China Jiliang University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"China Jiliang University, Hangzhou, China","institution_ids":["https://openalex.org/I55538621"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061864074","display_name":"Dijian Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I55538621","display_name":"China Jiliang University","ror":"https://ror.org/05v1y0t93","country_code":"CN","type":"education","lineage":["https://openalex.org/I55538621"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dijian Chen","raw_affiliation_strings":["China Jiliang University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"China Jiliang University, Hangzhou, China","institution_ids":["https://openalex.org/I55538621"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I55538621"],"apc_list":null,"apc_paid":null,"fwci":0.0853,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.37285968,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"47","issue":"5","first_page":"657","last_page":"667"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9984999895095825,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9984999895095825,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9979000091552734,"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":0.9972000122070312,"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":0.8109632730484009},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.6526910066604614},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.5789234042167664},{"id":"https://openalex.org/keywords/admittance","display_name":"Admittance","score":0.5043421983718872},{"id":"https://openalex.org/keywords/joint-stiffness","display_name":"Joint stiffness","score":0.48205479979515076},{"id":"https://openalex.org/keywords/inner-loop","display_name":"Inner loop","score":0.475490927696228},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.44230854511260986},{"id":"https://openalex.org/keywords/elbow","display_name":"Elbow","score":0.4400749206542969},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.43435049057006836},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4079176187515259},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3717988431453705},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3592682182788849},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.34594377875328064},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.32815107703208923},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.2803400158882141},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1473996639251709},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12606030702590942},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.124755859375}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8109632730484009},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.6526910066604614},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.5789234042167664},{"id":"https://openalex.org/C108811297","wikidata":"https://www.wikidata.org/wiki/Q214518","display_name":"Admittance","level":3,"score":0.5043421983718872},{"id":"https://openalex.org/C2781415944","wikidata":"https://www.wikidata.org/wiki/Q559210","display_name":"Joint stiffness","level":3,"score":0.48205479979515076},{"id":"https://openalex.org/C58716799","wikidata":"https://www.wikidata.org/wiki/Q6035648","display_name":"Inner loop","level":3,"score":0.475490927696228},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.44230854511260986},{"id":"https://openalex.org/C2781184374","wikidata":"https://www.wikidata.org/wiki/Q42586","display_name":"Elbow","level":2,"score":0.4400749206542969},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.43435049057006836},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4079176187515259},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3717988431453705},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3592682182788849},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.34594377875328064},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.32815107703208923},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.2803400158882141},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1473996639251709},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12606030702590942},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.124755859375},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1108/ir-12-2019-0246","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-12-2019-0246","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":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1964214514","https://openalex.org/W2108303641","https://openalex.org/W2124815790","https://openalex.org/W2137457856","https://openalex.org/W2157822824","https://openalex.org/W2162207896","https://openalex.org/W2330589301","https://openalex.org/W2343277025","https://openalex.org/W2416909497","https://openalex.org/W2438255111","https://openalex.org/W2557937525","https://openalex.org/W2593465928","https://openalex.org/W2740763895","https://openalex.org/W2772607898","https://openalex.org/W2792539092","https://openalex.org/W2793677370","https://openalex.org/W2795105096"],"related_works":["https://openalex.org/W4313421420","https://openalex.org/W2587252135","https://openalex.org/W2319640990","https://openalex.org/W4380366481","https://openalex.org/W3101417067","https://openalex.org/W2160363304","https://openalex.org/W1500387900","https://openalex.org/W2029199553","https://openalex.org/W4383109226","https://openalex.org/W4288391497"],"abstract_inverted_index":{"Purpose":[0],"Active":[1],"compliance":[2,51,168,180,196],"control":[3,38,52,66,70,92,106,131,207,216,237],"is":[4,63,81,103,121,169],"the":[5,16,25,33,41,64,85,104,109,113,126,129,138,157,160,172,190,193,200,205,214,222],"key":[6],"technology":[7],"for":[8,40,156],"Tri-Co":[9],"robots":[10],"(coexisting\u2013cooperative\u2013cognitive":[11],"robots)":[12],"to":[13,23,83,97,107,124,231],"interact":[14],"with":[15,31,71,150,238],"environment":[17],"and":[18,57,165,178],"people.":[19],"This":[20],"study":[21],"aims":[22],"make":[24],"robot":[26],"arm":[27],"shake":[28],"hands":[29],"compliantly":[30],"people;":[32],"paper":[34],"proposed":[35,130],"two":[36],"closed-loop-compliant":[37],"schemes":[39],"dynamic":[42,110],"identification":[43],"of":[44,55,89,112,128,140,162,213,224],"cascade":[45],"elbow":[46,114,166,194],"joint.":[47],"Design/methodology/approach":[48],"The":[49,60,100,119,134,185,211,235],"active":[50],"strategy":[53],"consists":[54],"inner":[56,61],"outer":[58,101],"loops.":[59],"loop":[62,102],"position":[65,206],"using":[67,148],"sliding":[68,90],"mode":[69,91],"disturbance":[72],"observer":[73],"(SMCDO),":[74],"in":[75,189,227],"which":[76],"a":[77],"new":[78],"saturation":[79,152],"function":[80,88],"designed":[82],"replace":[84],"traditional":[86,141],"signal":[87],"(SMC)":[93],"law":[94],"so":[95],"as":[96],"mitigate":[98],"chatter.":[99],"admittance":[105,215,236],"regulate":[108],"behaviours":[111],"joint,":[115],"i.e.":[116],"its":[117],"impedance.":[118],"simulation":[120],"carried":[122,183],"out":[123],"verify":[125],"performance":[127],"scheme.":[132],"Findings":[133],"results":[135,186],"show":[136,187],"that":[137,247],"chatter":[139],"SMC":[142],"can":[143,220],"be":[144],"effectively":[145],"eliminated":[146],"by":[147],"SMCDO":[149,219,239],"this":[151],"function.":[153],"In":[154],"addition,":[155],"handshake":[158],"task,":[159],"value":[161],"threshold":[163,173],"force":[164,174],"joint":[167,195],"defined.":[170],"Then,":[171],"tests,":[175],"impact":[176],"tests":[177,181],"elbow-joint":[179],"are":[182],"out.":[184],"that,":[188],"impedance":[191],"model,":[192],"only":[197],"depends":[198],"on":[199,204,218,249],"stiffness":[201],"parameters,":[202],"not":[203],"loop.":[208],"Practical":[209],"implications":[210],"effectiveness":[212],"based":[217,248],"improve":[221],"adaptability":[223],"industrial":[225],"manipulator":[226],"different":[228],"working":[229],"environments":[230],"some":[232],"degree.":[233],"Originality/value":[234],"completed":[240],"trajectory":[241],"tracking":[242],"has":[243],"higher":[244],"accuracy":[245],"than":[246],"SMC.":[250]},"counts_by_year":[{"year":2020,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
