{"id":"https://openalex.org/W3005874209","doi":"https://doi.org/10.1109/access.2020.2973173","title":"Compliant Control of Single Tendon-Sheath Actuators Applied to a Robotic Manipulator","display_name":"Compliant Control of Single Tendon-Sheath Actuators Applied to a Robotic Manipulator","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3005874209","doi":"https://doi.org/10.1109/access.2020.2973173","mag":"3005874209"},"language":"en","primary_location":{"id":"doi:10.1109/access.2020.2973173","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2973173","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1109/access.2020.2973173","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5012159722","display_name":"Meng Yin","orcid":"https://orcid.org/0000-0001-7173-3269"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Meng Yin","raw_affiliation_strings":["Chinese Academy of Sciences, Institutes for Robotics and Intelligent Manufacturing, Shenyang, China","Chinese Academy of Sciences, Shenyang Institute of Automation, Shenyang, China","University of Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-7173-3269","affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences, Institutes for Robotics and Intelligent Manufacturing, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Chinese Academy of Sciences, Shenyang Institute of Automation, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011261128","display_name":"Haoting Wu","orcid":"https://orcid.org/0000-0003-0458-7745"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haoting Wu","raw_affiliation_strings":["Chinese Academy of Sciences, Institutes for Robotics and Intelligent Manufacturing, Shenyang, China","Chinese Academy of Sciences, Shenyang Institute of Automation, Shenyang, China","School of Mechanical Engineering and Automation, Northeastern University, Shenyang, China"],"raw_orcid":"https://orcid.org/0000-0003-0458-7745","affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences, Institutes for Robotics and Intelligent Manufacturing, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Chinese Academy of Sciences, Shenyang Institute of Automation, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5115601042","display_name":"Zhigang Xu","orcid":"https://orcid.org/0000-0001-8056-2174"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhigang Xu","raw_affiliation_strings":["Chinese Academy of Sciences, Institutes for Robotics and Intelligent Manufacturing, Shenyang, China","Chinese Academy of Sciences, Shenyang Institute of Automation, Shenyang, China"],"raw_orcid":"https://orcid.org/0000-0001-8056-2174","affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences, Institutes for Robotics and Intelligent Manufacturing, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Chinese Academy of Sciences, Shenyang Institute of Automation, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102926854","display_name":"Han Wei","orcid":"https://orcid.org/0000-0002-0796-5759"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Han","raw_affiliation_strings":["Chinese Academy of Sciences, Institutes for Robotics and Intelligent Manufacturing, Shenyang, China","Chinese Academy of Sciences, Shenyang Institute of Automation, Shenyang, China","School of Mechanical Engineering and Automation, Northeastern University, Shenyang, China"],"raw_orcid":"https://orcid.org/0000-0002-0796-5759","affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences, Institutes for Robotics and Intelligent Manufacturing, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Chinese Academy of Sciences, Shenyang Institute of Automation, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5003248146","display_name":"Zhiliang Zhao","orcid":"https://orcid.org/0000-0002-4447-1125"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiliang Zhao","raw_affiliation_strings":["Chinese Academy of Sciences, Institutes for Robotics and Intelligent Manufacturing, Shenyang, China","Chinese Academy of Sciences, Shenyang Institute of Automation, Shenyang, China","School of Mechanical Engineering and Automation, Northeastern University, Shenyang, China"],"raw_orcid":"https://orcid.org/0000-0002-4447-1125","affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences, Institutes for Robotics and Intelligent Manufacturing, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Chinese Academy of Sciences, Shenyang Institute of Automation, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.9388,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.71091376,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"8","issue":null,"first_page":"37361","last_page":"37371"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9983999729156494,"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":0.9983999729156494,"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":0.9970999956130981,"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":0.9950000047683716,"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/actuator","display_name":"Actuator","score":0.8195810317993164},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6893833875656128},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6513481140136719},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5537678003311157},{"id":"https://openalex.org/keywords/encoder","display_name":"Encoder","score":0.5382395386695862},{"id":"https://openalex.org/keywords/transmission","display_name":"Transmission (telecommunications)","score":0.49883580207824707},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4939787983894348},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4684714674949646},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.37678951025009155},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.17047616839408875},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14813128113746643},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12079912424087524}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.8195810317993164},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6893833875656128},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6513481140136719},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5537678003311157},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.5382395386695862},{"id":"https://openalex.org/C761482","wikidata":"https://www.wikidata.org/wiki/Q118093","display_name":"Transmission (telecommunications)","level":2,"score":0.49883580207824707},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4939787983894348},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4684714674949646},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.37678951025009155},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.17047616839408875},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14813128113746643},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12079912424087524},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/access.2020.2973173","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2973173","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:60effece25364392aea4dee0dea8118c","is_oa":true,"landing_page_url":"https://doaj.org/article/60effece25364392aea4dee0dea8118c","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 8, Pp 37361-37371 (2020)","raw_type":"article"},{"id":"pmh:oai:ir.sia.cn/:173321/26778","is_oa":false,"landing_page_url":"http://ir.sia.cn/handle/173321/26778","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"\u671f\u520a\u8bba\u6587"}],"best_oa_location":{"id":"doi:10.1109/access.2020.2973173","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2973173","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","score":0.8399999737739563,"display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W1978023077","https://openalex.org/W1980753202","https://openalex.org/W2022514885","https://openalex.org/W2066202893","https://openalex.org/W2108965296","https://openalex.org/W2111253117","https://openalex.org/W2111749194","https://openalex.org/W2111956227","https://openalex.org/W2116767351","https://openalex.org/W2134162555","https://openalex.org/W2138671676","https://openalex.org/W2140031923","https://openalex.org/W2147288676","https://openalex.org/W2158828654","https://openalex.org/W2162394694","https://openalex.org/W2164898903","https://openalex.org/W2294251513","https://openalex.org/W2295584263","https://openalex.org/W2573723330","https://openalex.org/W2588408339","https://openalex.org/W2747172592","https://openalex.org/W2762248135","https://openalex.org/W2771354076","https://openalex.org/W2772163961","https://openalex.org/W2789905221","https://openalex.org/W2888177207","https://openalex.org/W2888755567","https://openalex.org/W2897952680","https://openalex.org/W2907255004","https://openalex.org/W2907599350","https://openalex.org/W2916642359","https://openalex.org/W2918843756","https://openalex.org/W2955189310","https://openalex.org/W2965879861","https://openalex.org/W2971013867","https://openalex.org/W6680894974","https://openalex.org/W6684116416","https://openalex.org/W6684514335"],"related_works":["https://openalex.org/W4390516098","https://openalex.org/W2007221537","https://openalex.org/W2181948922","https://openalex.org/W2490690736","https://openalex.org/W2384362569","https://openalex.org/W2080330449","https://openalex.org/W2099333796","https://openalex.org/W1999058329","https://openalex.org/W2169474978","https://openalex.org/W1967231214"],"abstract_inverted_index":{"Tendon-sheath":[0],"actuators":[1,9],"(TSAs),":[2],"similar":[3],"to":[4,23,31,104],"Bowden":[5],"cable-based":[6],"series":[7],"elastic":[8],"(SEAs),":[10],"have":[11],"a":[12,38,46,70,72,75,92],"wide":[13],"range":[14],"of":[15,69,126,146],"applications":[16],"in":[17],"robots.":[18],"However,":[19],"when":[20],"applying":[21],"them":[22],"manipulators,":[24],"force":[25,78,101,161],"sensors":[26,82,164],"cannot":[27],"be":[28,158],"mounted":[29],"due":[30],"limited":[32],"space.":[33],"Therefore,":[34],"this":[35],"paper":[36],"proposes":[37],"new":[39],"method":[40],"for":[41],"compliant":[42,133],"control":[43,94,134],"based":[44],"on":[45],"dual":[47],"encoder,":[48],"and":[49,80,110,118,139,142,162],"the":[50,58,63,106,111,115,119,127,143,147,155,166],"existing":[51],"transmission":[52,86,108],"model":[53],"was":[54],"improved":[55],"by":[56,132],"considering":[57],"joint":[59],"torque.":[60],"To":[61],"validate":[62],"proposed":[64],"method,":[65],"experimental":[66],"setups":[67],"composed":[68],"motor,":[71],"tendon-sheath":[73],"component,":[74],"robotic":[76],"joint,":[77],"sensors,":[79],"position":[81,93],"are":[83,88,102,149],"established.":[84],"The":[85,124,151],"processes":[87],"interpreted":[89],"clearly":[90],"through":[91],"mode.":[95],"Parameter":[96],"identifications":[97],"without":[98,160],"external":[99],"disturbance":[100],"conducted":[103],"acquire":[105],"ideal":[107],"model,":[109],"error":[112],"value":[113],"between":[114],"experiment":[116],"data":[117],"fitted":[120],"curve":[121],"is":[122,130],"measured.":[123],"availability":[125],"presented":[128],"scheme":[129],"verified":[131],"experiments,":[135],"including":[136],"collision":[137],"detection":[138],"hand":[140],"guiding,":[141],"frequency":[144],"characteristics":[145],"actuator":[148],"analyzed.":[150],"results":[152],"show":[153],"that":[154],"function":[156],"can":[157],"realized":[159],"torque":[163],"during":[165],"whole":[167],"process.":[168]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}