{"id":"https://openalex.org/W2359331375","doi":"https://doi.org/10.1108/k-08-2015-0205","title":"Direct force control for human-machine system with friction compensation","display_name":"Direct force control for human-machine system with friction compensation","publication_year":2016,"publication_date":"2016-05-03","ids":{"openalex":"https://openalex.org/W2359331375","doi":"https://doi.org/10.1108/k-08-2015-0205","mag":"2359331375"},"language":"en","primary_location":{"id":"doi:10.1108/k-08-2015-0205","is_oa":false,"landing_page_url":"https://doi.org/10.1108/k-08-2015-0205","pdf_url":null,"source":{"id":"https://openalex.org/S168682784","display_name":"Kybernetes","issn_l":"0368-492X","issn":["0368-492X","1758-7883"],"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":"Kybernetes","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/A5100758672","display_name":"Lie Yu","orcid":"https://orcid.org/0000-0001-9500-6402"},"institutions":[{"id":"https://openalex.org/I196699116","display_name":"Wuhan University of Technology","ror":"https://ror.org/03fe7t173","country_code":"CN","type":"education","lineage":["https://openalex.org/I196699116"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Lie Yu","raw_affiliation_strings":["School of Information Engineering, Wuhan University of Technology, Wuhan, China","[School of Information Engineering Wuhan University of Technology Wuhan, China]"],"affiliations":[{"raw_affiliation_string":"School of Information Engineering, Wuhan University of Technology, Wuhan, China","institution_ids":["https://openalex.org/I196699116"]},{"raw_affiliation_string":"[School of Information Engineering Wuhan University of Technology Wuhan, China]","institution_ids":["https://openalex.org/I196699116"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102782287","display_name":"Jianbin Zheng","orcid":"https://orcid.org/0000-0003-0636-3905"},"institutions":[{"id":"https://openalex.org/I196699116","display_name":"Wuhan University of Technology","ror":"https://ror.org/03fe7t173","country_code":"CN","type":"education","lineage":["https://openalex.org/I196699116"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianbin Zheng","raw_affiliation_strings":["School of Information Engineering, Wuhan University of Technology, Wuhan, China","[School of Information Engineering Wuhan University of Technology Wuhan, China]"],"affiliations":[{"raw_affiliation_string":"School of Information Engineering, Wuhan University of Technology, Wuhan, China","institution_ids":["https://openalex.org/I196699116"]},{"raw_affiliation_string":"[School of Information Engineering Wuhan University of Technology Wuhan, China]","institution_ids":["https://openalex.org/I196699116"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100423354","display_name":"Yang Wang","orcid":"https://orcid.org/0000-0002-8903-2388"},"institutions":[{"id":"https://openalex.org/I196699116","display_name":"Wuhan University of Technology","ror":"https://ror.org/03fe7t173","country_code":"CN","type":"education","lineage":["https://openalex.org/I196699116"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Wang","raw_affiliation_strings":["School of Information Engineering, Wuhan University of Technology, Wuhan, China","[School of Information Engineering Wuhan University of Technology Wuhan, China]"],"affiliations":[{"raw_affiliation_string":"School of Information Engineering, Wuhan University of Technology, Wuhan, China","institution_ids":["https://openalex.org/I196699116"]},{"raw_affiliation_string":"[School of Information Engineering Wuhan University of Technology Wuhan, China]","institution_ids":["https://openalex.org/I196699116"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110075649","display_name":"Enqi Zhan","orcid":null},"institutions":[{"id":"https://openalex.org/I196699116","display_name":"Wuhan University of Technology","ror":"https://ror.org/03fe7t173","country_code":"CN","type":"education","lineage":["https://openalex.org/I196699116"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Enqi Zhan","raw_affiliation_strings":["School of Information Engineering, Wuhan University of Technology, Wuhan, China","[School of Information Engineering Wuhan University of Technology Wuhan, China]"],"affiliations":[{"raw_affiliation_string":"School of Information Engineering, Wuhan University of Technology, Wuhan, China","institution_ids":["https://openalex.org/I196699116"]},{"raw_affiliation_string":"[School of Information Engineering Wuhan University of Technology Wuhan, China]","institution_ids":["https://openalex.org/I196699116"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004957097","display_name":"Qiuzhi Song","orcid":"https://orcid.org/0000-0001-7232-3886"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiuzhi Song","raw_affiliation_strings":["School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China","School of Mechatronical Engineering\uff0cBeijing Institute of Technology Beijing China"],"affiliations":[{"raw_affiliation_string":"School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"School of Mechatronical Engineering\uff0cBeijing Institute of Technology Beijing China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5100758672"],"corresponding_institution_ids":["https://openalex.org/I196699116"],"apc_list":null,"apc_paid":null,"fwci":0.2602,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.58874883,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"45","issue":"5","first_page":"760","last_page":"771"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9990000128746033,"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"}},"topics":[{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9990000128746033,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9962999820709229,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.992900013923645,"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":0.7985758781433105},{"id":"https://openalex.org/keywords/servomechanism","display_name":"Servomechanism","score":0.7255411744117737},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.5735144019126892},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5434832572937012},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.5370871424674988},{"id":"https://openalex.org/keywords/machine-tool","display_name":"Machine tool","score":0.535047173500061},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5276150703430176},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5169122219085693},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5105386972427368},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.5001175403594971},{"id":"https://openalex.org/keywords/hydraulic-machinery","display_name":"Hydraulic machinery","score":0.49226680397987366},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.44430434703826904},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3063744306564331},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2382430136203766},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2225950062274933},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.11480334401130676}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7985758781433105},{"id":"https://openalex.org/C49503481","wikidata":"https://www.wikidata.org/wiki/Q640815","display_name":"Servomechanism","level":2,"score":0.7255411744117737},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.5735144019126892},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5434832572937012},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.5370871424674988},{"id":"https://openalex.org/C5941749","wikidata":"https://www.wikidata.org/wiki/Q19768","display_name":"Machine tool","level":2,"score":0.535047173500061},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5276150703430176},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5169122219085693},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5105386972427368},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.5001175403594971},{"id":"https://openalex.org/C11394606","wikidata":"https://www.wikidata.org/wiki/Q1972552","display_name":"Hydraulic machinery","level":2,"score":0.49226680397987366},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.44430434703826904},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3063744306564331},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2382430136203766},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2225950062274933},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.11480334401130676},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"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/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/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"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/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1108/k-08-2015-0205","is_oa":false,"landing_page_url":"https://doi.org/10.1108/k-08-2015-0205","pdf_url":null,"source":{"id":"https://openalex.org/S168682784","display_name":"Kybernetes","issn_l":"0368-492X","issn":["0368-492X","1758-7883"],"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":"Kybernetes","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8100000023841858,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1602498161","https://openalex.org/W1985246523","https://openalex.org/W2021695526","https://openalex.org/W2041400405","https://openalex.org/W2043286593","https://openalex.org/W2052678842","https://openalex.org/W2063004206","https://openalex.org/W2101728275","https://openalex.org/W2102911553","https://openalex.org/W2117191131","https://openalex.org/W2152880707","https://openalex.org/W2154021136","https://openalex.org/W2166271005","https://openalex.org/W2980070341","https://openalex.org/W3022377941"],"related_works":["https://openalex.org/W2002388147","https://openalex.org/W3098928304","https://openalex.org/W2394883510","https://openalex.org/W2150958483","https://openalex.org/W2922503265","https://openalex.org/W2023324176","https://openalex.org/W3097920840","https://openalex.org/W2165013373","https://openalex.org/W3212795132","https://openalex.org/W3038052089"],"abstract_inverted_index":{"Purpose":[0],"\u2013":[1,51,101,148,159],"The":[2,52,61,78,122,149],"purpose":[3],"of":[4,46,54,114,185],"this":[5],"paper":[6,161],"is":[7,40,58,64,144,162,190],"to":[8,23,42,165,171,194],"present":[9],"a":[10,71,75,111,130],"direct":[11,180],"force":[12,139,181],"control":[13,62,182],"which":[14,80],"uses":[15],"two":[16,67,186],"closed-loop":[17,68,187],"controller":[18,73],"for":[19],"one-degree-of-freedom":[20],"human-machine":[21,34,48,56,103,134,138,175],"system":[22,57,104,120,128],"synchronize":[24],"the":[25,33,38,44,47,55,83,87,94,119,127,142,163,167,174,179,192,196,200],"human":[26],"position":[27,135],"and":[28,31,74,86,97,137,177,203],"machine":[29],"position,":[30],"minimize":[32],"force.":[35],"In":[36],"addition,":[37],"friction":[39,116,143,197],"compensated":[41,91],"promote":[43],"performance":[45,132],"system.":[49],"Design/methodology/approach":[50],"dynamic":[53],"mathematically":[59],"modeled.":[60],"strategy":[63,183],"designed":[65],"using":[66,93],"controllers,":[69],"including":[70],"PID":[72],"PI":[76],"controller.":[77],"frictions,":[79],"exist":[81],"in":[82,133,199],"rotary":[84],"joint":[85,202],"hydraulic":[88,204],"wall,":[89],"are":[90,152],"separately":[92],"Friedland\u2019s":[95],"observer":[96],"Dahl\u2019s":[98],"observer.":[99],"Findings":[100],"When":[102],"moves":[105],"at":[106],"low":[107],"velocity,":[108],"there":[109],"exists":[110],"significant":[112],"amount":[113],"static":[115],"that":[117,126],"hinders":[118],"movements.":[121],"simulation":[123,155],"results":[124,151],"show":[125],"gives":[129],"better":[131],"synchronization":[136],"minimization":[140],"when":[141],"compensated.":[145],"Research":[146],"limitations/implications":[147],"acquired":[150],"based":[153],"on":[154],"not":[156],"experiment.":[157],"Originality/value":[158],"This":[160],"first":[164,193],"apply":[166],"electrohydraulic":[168],"servo":[169],"systems":[170],"both":[172,198],"actuate":[173],"system,":[176],"use":[178],"consisting":[184],"controllers.":[188],"It":[189],"also":[191],"compensate":[195],"robot":[201],"wall.":[205]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}