{"id":"https://openalex.org/W4288391427","doi":"https://doi.org/10.1109/access.2022.3194515","title":"Interactive-Rate Supervisory Control for Arbitrarily-Routed Multitendon Robots via Motion Planning","display_name":"Interactive-Rate Supervisory Control for Arbitrarily-Routed Multitendon Robots via Motion Planning","publication_year":2022,"publication_date":"2022-01-01","ids":{"openalex":"https://openalex.org/W4288391427","doi":"https://doi.org/10.1109/access.2022.3194515"},"language":"en","primary_location":{"id":"doi:10.1109/access.2022.3194515","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3194515","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09843990.pdf","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":["arxiv","crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09843990.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5086342701","display_name":"Michael Bentley","orcid":"https://orcid.org/0000-0002-1524-6631"},"institutions":[{"id":"https://openalex.org/I223532165","display_name":"University of Utah","ror":"https://ror.org/03r0ha626","country_code":"US","type":"education","lineage":["https://openalex.org/I223532165"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael Bentley","raw_affiliation_strings":["Robotics Center, University of Utah, Salt Lake City, UT, USA","Robotics Center and School of Computing, University of Utah, Salt Lake City, UT, USA"],"raw_orcid":"https://orcid.org/0000-0002-1524-6631","affiliations":[{"raw_affiliation_string":"Robotics Center, University of Utah, Salt Lake City, UT, USA","institution_ids":["https://openalex.org/I223532165"]},{"raw_affiliation_string":"Robotics Center and School of Computing, University of Utah, Salt Lake City, UT, USA","institution_ids":["https://openalex.org/I223532165"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082291863","display_name":"D. Caleb Rucker","orcid":"https://orcid.org/0000-0001-7181-1933"},"institutions":[{"id":"https://openalex.org/I75027704","display_name":"University of Tennessee at Knoxville","ror":"https://ror.org/020f3ap87","country_code":"US","type":"education","lineage":["https://openalex.org/I75027704"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Caleb Rucker","raw_affiliation_strings":["Department of Mechanical, Aerospace and Biomedical Engineering, University of Tennessee, Knoxville, TN, USA"],"raw_orcid":"https://orcid.org/0000-0001-7181-1933","affiliations":[{"raw_affiliation_string":"Department of Mechanical, Aerospace and Biomedical Engineering, University of Tennessee, Knoxville, TN, USA","institution_ids":["https://openalex.org/I75027704"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068912132","display_name":"Alan Kuntz","orcid":"https://orcid.org/0000-0003-0017-3932"},"institutions":[{"id":"https://openalex.org/I223532165","display_name":"University of Utah","ror":"https://ror.org/03r0ha626","country_code":"US","type":"education","lineage":["https://openalex.org/I223532165"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alan Kuntz","raw_affiliation_strings":["Robotics Center, University of Utah, Salt Lake City, UT, USA","Robotics Center and School of Computing, University of Utah, Salt Lake City, UT, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Center, University of Utah, Salt Lake City, UT, USA","institution_ids":["https://openalex.org/I223532165"]},{"raw_affiliation_string":"Robotics Center and School of Computing, University of Utah, Salt Lake City, UT, USA","institution_ids":["https://openalex.org/I223532165"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"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":0.6348,"has_fulltext":true,"cited_by_count":8,"citation_normalized_percentile":{"value":0.61840167,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"10","issue":null,"first_page":"80999","last_page":"81019"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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":0.9998999834060669,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9987000226974487,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9965999722480774,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7688114643096924},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7342280149459839},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7156429290771484},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6312553882598877},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.6251075863838196},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5394668579101562},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.43551790714263916},{"id":"https://openalex.org/keywords/motion-capture","display_name":"Motion capture","score":0.432079553604126},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.42326992750167847},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.39856967329978943},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3923206925392151}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7688114643096924},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7342280149459839},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7156429290771484},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6312553882598877},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.6251075863838196},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5394668579101562},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.43551790714263916},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.432079553604126},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.42326992750167847},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.39856967329978943},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3923206925392151},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/access.2022.3194515","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3194515","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09843990.pdf","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:arXiv.org:2211.16452","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2211.16452","pdf_url":"https://arxiv.org/pdf/2211.16452","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:doaj.org/article:4b7a3b49ede24c5598b157bed9d29f8a","is_oa":true,"landing_page_url":"https://doaj.org/article/4b7a3b49ede24c5598b157bed9d29f8a","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 10, Pp 80999-81019 (2022)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2022.3194515","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3194515","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09843990.pdf","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/11","score":0.6399999856948853,"display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G3451134762","display_name":"CAREER: Safe and Transformative Robotic Intervention through Dynamic Elastic Structures (STRIDES)","funder_award_id":"1652588","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G3621613035","display_name":"NRI: Liquid-Solid Metal for Embodied Intelligence in Semi-Soft, Human-Collaborative Robots","funder_award_id":"2133027","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G7076020741","display_name":null,"funder_award_id":"IIS-1652588","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4288391427.pdf","grobid_xml":"https://content.openalex.org/works/W4288391427.grobid-xml"},"referenced_works_count":46,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W1485487406","https://openalex.org/W1589824090","https://openalex.org/W1971086298","https://openalex.org/W2004139909","https://openalex.org/W2024382047","https://openalex.org/W2035105943","https://openalex.org/W2040709641","https://openalex.org/W2049797245","https://openalex.org/W2053614949","https://openalex.org/W2060978823","https://openalex.org/W2066399169","https://openalex.org/W2074954154","https://openalex.org/W2110762409","https://openalex.org/W2121744551","https://openalex.org/W2128990851","https://openalex.org/W2141664020","https://openalex.org/W2159722616","https://openalex.org/W2167480813","https://openalex.org/W2184993170","https://openalex.org/W2207568557","https://openalex.org/W2573080392","https://openalex.org/W2616035607","https://openalex.org/W2775054021","https://openalex.org/W2789029145","https://openalex.org/W2802569337","https://openalex.org/W2899634490","https://openalex.org/W2908470874","https://openalex.org/W2909729638","https://openalex.org/W2916122096","https://openalex.org/W2949290673","https://openalex.org/W2989967279","https://openalex.org/W3003450231","https://openalex.org/W3106346928","https://openalex.org/W3115133403","https://openalex.org/W3204994493","https://openalex.org/W3207352324","https://openalex.org/W4200059093","https://openalex.org/W4210927443","https://openalex.org/W4212876379","https://openalex.org/W4255867308","https://openalex.org/W4399469378","https://openalex.org/W6605295560","https://openalex.org/W6631963404","https://openalex.org/W6756299048","https://openalex.org/W6922599316"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2329043542","https://openalex.org/W2139993144","https://openalex.org/W2161214141","https://openalex.org/W2102645302","https://openalex.org/W2326117494","https://openalex.org/W1970280380"],"abstract_inverted_index":{"Tendon-driven":[0],"robots,":[1],"where":[2],"one":[3],"or":[4],"more":[5],"tendons":[6,49],"under":[7],"tension":[8],"bend":[9],"and":[10,36,41,53,129,164,177,192,228],"manipulate":[11],"a":[12,114,123,126,130,142,153,166,201],"flexible":[13],"backbone,":[14],"can":[15,50],"improve":[16],"minimally":[17],"invasive":[18],"surgeries":[19],"involving":[20],"difficult-to-reach":[21,61],"regions":[22],"in":[23,38,200],"the":[24,102,170],"human":[25],"body.":[26],"Planning":[27],"motions":[28],"safely":[29],"within":[30],"constrained":[31],"anatomical":[32,62,207],"environments":[33],"requires":[34],"accuracy":[35,191],"efficiency":[37],"shape":[39],"estimation":[40],"collision":[42,156,229],"checking.":[43],"Tendon":[44],"robots":[45,66,121],"that":[46,184,212],"employ":[47],"arbitrarily-routed":[48,119],"achieve":[51,97],"complex":[52],"interesting":[54],"shapes,":[55],"enabling":[56],"them":[57],"to":[58,60,81,86],"travel":[59],"regions.":[63],"Arbitrarily-routed":[64],"tendon-driven":[65,120],"have":[67],"unintuitive":[68],"nonlinear":[69],"kinematics.":[70],"Therefore,":[71],"we":[72,112,182],"envision":[73],"clinicians":[74],"leveraging":[75,165],"an":[76,137],"assistive":[77],"interactive-rate":[78,98],"motion":[79,99,222],"planner":[80],"automatically":[82],"generate":[83],"collision-free":[84],"trajectories":[85],"clinician-specified":[87],"destinations":[88],"during":[89],"minimally-invasive":[90],"surgical":[91],"procedures.":[92],"Standard":[93],"motion-planning":[94,116,186],"techniques":[95],"cannot":[96],"planning":[100,223],"with":[101,122,174,225],"current":[103,151],"expensive":[104],"tendon":[105],"robot":[106,172],"kinematic":[107,144],"models.":[108],"In":[109,179],"this":[110],"work,":[111],"present":[113],"3-phase":[115],"system":[117,135],"for":[118],"Precompute":[124],"phase,":[125,128],"Load":[127],"Supervisory":[131],"Control":[132],"phase.":[133],"Our":[134,209,232],"achieves":[136,188],"interactive":[138],"rate":[139],"by":[140],"developing":[141],"fast":[143,154],"model":[145],"(over":[146],"1,000":[147],"times":[148,159,217],"faster":[149,160,218],"than":[150,161,219],"models),":[152],"voxel":[155],"method":[157,187,214],"(27.6":[158],"standard":[162,226],"methods),":[163],"precomputed":[167],"roadmap":[168],"of":[169],"entire":[171],"workspace":[173],"pre-voxelized":[175],"vertices":[176],"edges.":[178],"simulated":[180],"experiments,":[181],"show":[183,211],"our":[185,213],"high":[189],"tip-position":[190],"generates":[193],"plans":[194],"at":[195],"14.8":[196],"Hz":[197],"on":[198],"average":[199],"segmented":[202],"collapsed":[203],"lung":[204],"pleural":[205],"space":[206],"environment.":[208],"results":[210],"is":[215,235],"17,700":[216],"popular":[220],"off-the-shelf":[221],"algorithms":[224],"FK":[227],"detection":[230],"approaches.":[231],"open-source":[233],"code":[234],"available":[236],"online.":[237]},"counts_by_year":[{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
