{"id":"https://openalex.org/W1589454251","doi":"https://doi.org/10.1109/acc.2015.7171067","title":"Controller synthesis for assistive robotic device using twisted-string actuation","display_name":"Controller synthesis for assistive robotic device using twisted-string actuation","publication_year":2015,"publication_date":"2015-07-01","ids":{"openalex":"https://openalex.org/W1589454251","doi":"https://doi.org/10.1109/acc.2015.7171067","mag":"1589454251"},"language":"en","primary_location":{"id":"doi:10.1109/acc.2015.7171067","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2015.7171067","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 American Control Conference (ACC)","raw_type":"proceedings-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/A5101652026","display_name":"Lei Jiang","orcid":"https://orcid.org/0000-0002-2482-1060"},"institutions":[{"id":"https://openalex.org/I12097938","display_name":"West Virginia University","ror":"https://ror.org/011vxgd24","country_code":"US","type":"education","lineage":["https://openalex.org/I12097938"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Lei Jiang","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, West Virginia University, Morgantown, WV, USA","Department of Mechanical and Aerospace Engineering, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, West Virginia University, Morgantown, WV, USA","institution_ids":["https://openalex.org/I12097938"]},{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046697399","display_name":"Reza Shisheie","orcid":null},"institutions":[{"id":"https://openalex.org/I12097938","display_name":"West Virginia University","ror":"https://ror.org/011vxgd24","country_code":"US","type":"education","lineage":["https://openalex.org/I12097938"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Reza Shisheie","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, West Virginia University, Morgantown, WV, USA","Department of Mechanical and Aerospace Engineering, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, West Virginia University, Morgantown, WV, USA","institution_ids":["https://openalex.org/I12097938"]},{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004312881","display_name":"Marvin H. Cheng","orcid":"https://orcid.org/0000-0001-7908-3635"},"institutions":[{"id":"https://openalex.org/I12097938","display_name":"West Virginia University","ror":"https://ror.org/011vxgd24","country_code":"US","type":"education","lineage":["https://openalex.org/I12097938"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Marvin Cheng","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, West Virginia University, Morgantown, WV, USA","Department of Mechanical and Aerospace Engineering, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, West Virginia University, Morgantown, WV, USA","institution_ids":["https://openalex.org/I12097938"]},{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, USA","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001694263","display_name":"Ezzat G. Bakhoum","orcid":"https://orcid.org/0000-0002-6336-0738"},"institutions":[{"id":"https://openalex.org/I83683471","display_name":"University of West Florida","ror":"https://ror.org/002w4zy91","country_code":"US","type":"education","lineage":["https://openalex.org/I83683471"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ezzat Bakhoum","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of West Florida, Pensacola, FL, USA","Department of Electrical and Computer Engineering, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of West Florida, Pensacola, FL, USA","institution_ids":["https://openalex.org/I83683471"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, USA","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5101652026"],"corresponding_institution_ids":["https://openalex.org/I12097938"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.02898982,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"2248","last_page":"2253"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9986000061035156,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9986000061035156,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9980000257492065,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9937000274658203,"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":0.7547360062599182},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.7352274656295776},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6139329671859741},{"id":"https://openalex.org/keywords/string","display_name":"String (physics)","score":0.6070151925086975},{"id":"https://openalex.org/keywords/synchronization","display_name":"Synchronization (alternating current)","score":0.6033084392547607},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.584463894367218},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.5624945163726807},{"id":"https://openalex.org/keywords/open-loop-controller","display_name":"Open-loop controller","score":0.5230813026428223},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4698537588119507},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.44031086564064026},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.43920138478279114},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.424894779920578},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.4160362482070923},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26914021372795105},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.20450273156166077},{"id":"https://openalex.org/keywords/closed-loop","display_name":"Closed loop","score":0.14579984545707703},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12139126658439636},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.06010466814041138}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7547360062599182},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.7352274656295776},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6139329671859741},{"id":"https://openalex.org/C157486923","wikidata":"https://www.wikidata.org/wiki/Q1376436","display_name":"String (physics)","level":2,"score":0.6070151925086975},{"id":"https://openalex.org/C2778562939","wikidata":"https://www.wikidata.org/wiki/Q1298791","display_name":"Synchronization (alternating current)","level":3,"score":0.6033084392547607},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.584463894367218},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.5624945163726807},{"id":"https://openalex.org/C161362739","wikidata":"https://www.wikidata.org/wiki/Q2301555","display_name":"Open-loop controller","level":3,"score":0.5230813026428223},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4698537588119507},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.44031086564064026},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.43920138478279114},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.424894779920578},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.4160362482070923},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26914021372795105},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.20450273156166077},{"id":"https://openalex.org/C3019251811","wikidata":"https://www.wikidata.org/wiki/Q5135346","display_name":"Closed loop","level":2,"score":0.14579984545707703},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12139126658439636},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.06010466814041138},{"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C37914503","wikidata":"https://www.wikidata.org/wiki/Q156495","display_name":"Mathematical physics","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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"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/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"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/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/acc.2015.7171067","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2015.7171067","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 American Control Conference (ACC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5199999809265137,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320308728","display_name":"Virginia Space Grant Consortium","ror":"https://ror.org/010ww9x09"},{"id":"https://openalex.org/F4320308730","display_name":"West Virginia Space Grant Consortium","ror":"https://ror.org/01zpqad83"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1991761189","https://openalex.org/W2007356983","https://openalex.org/W2030086945","https://openalex.org/W2042114829","https://openalex.org/W2080026597","https://openalex.org/W2084109593","https://openalex.org/W2098022953","https://openalex.org/W2107042504","https://openalex.org/W2107586678","https://openalex.org/W2125027683","https://openalex.org/W2126010793","https://openalex.org/W2137399128","https://openalex.org/W2540442743","https://openalex.org/W2544972573","https://openalex.org/W6678518060","https://openalex.org/W6729134378"],"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/W2121097709","https://openalex.org/W3097920840","https://openalex.org/W204648549","https://openalex.org/W4244904831"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"an":[3],"adaptive":[4],"robust":[5],"controller":[6,45,97,106],"of":[7,22,58,71,81,93,103],"assistive":[8],"robotic":[9],"device":[10],"using":[11],"a":[12,30],"dual":[13],"twisted-string":[14,83],"actuation":[15,84],"devices":[16],"was":[17,65,98],"synthesized.":[18],"With":[19],"the":[20,41,50,59,69,72,87,94,101],"consideration":[21],"system":[23],"uncertainties,":[24],"nonlinear":[25],"dynamics,":[26],"and":[27,85],"operational":[28],"dead-zones,":[29],"compensation":[31],"strategy":[32],"for":[33,49],"high":[34],"accuracy":[35],"motion":[36],"control":[37],"is":[38],"integrated":[39],"in":[40],"controller.":[42],"The":[43,91],"proposed":[44,73,95],"not":[46],"only":[47],"accounts":[48],"tracking":[51,79],"performance":[52,70,80,92],"but":[53],"also":[54],"minimizes":[55],"synchronization":[56,88],"errors":[57],"dual-axial":[60],"system.":[61],"A":[62],"test":[63],"platform":[64],"designed":[66],"to":[67],"validate":[68],"ARC":[74,96],"controller,":[75],"which":[76],"can":[77],"achieve":[78],"individual":[82],"minimize":[86],"error":[89],"simultaneously.":[90],"compared":[99],"with":[100],"outcome":[102],"regular":[104],"PID":[105],"as":[107],"well.":[108]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
