{"id":"https://openalex.org/W4400071535","doi":"https://doi.org/10.1109/access.2024.3419177","title":"Research on Adaptive Fuzzy Impedance Control of Human-Massage Robot Interaction Based on Kelvin-Voigt Modeling","display_name":"Research on Adaptive Fuzzy Impedance Control of Human-Massage Robot Interaction Based on Kelvin-Voigt Modeling","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4400071535","doi":"https://doi.org/10.1109/access.2024.3419177"},"language":"en","primary_location":{"id":"doi:10.1109/access.2024.3419177","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3419177","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.2024.3419177","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5021719107","display_name":"Xiaoqing Zhang","orcid":"https://orcid.org/0009-0004-1931-9932"},"institutions":[{"id":"https://openalex.org/I141962983","display_name":"Shanghai University of Engineering Science","ror":"https://ror.org/0557b9y08","country_code":"CN","type":"education","lineage":["https://openalex.org/I141962983"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xiaoqing Zhang","raw_affiliation_strings":["School of Mechanical and Automotive Engineering, Shanghai University of Engineering Science, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Automotive Engineering, Shanghai University of Engineering Science, Shanghai, China","institution_ids":["https://openalex.org/I141962983"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101555558","display_name":"Jixian Zhang","orcid":"https://orcid.org/0000-0003-0830-0369"},"institutions":[{"id":"https://openalex.org/I141962983","display_name":"Shanghai University of Engineering Science","ror":"https://ror.org/0557b9y08","country_code":"CN","type":"education","lineage":["https://openalex.org/I141962983"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jixian Zhang","raw_affiliation_strings":["School of Mechanical and Automotive Engineering, Shanghai University of Engineering Science, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Automotive Engineering, Shanghai University of Engineering Science, Shanghai, China","institution_ids":["https://openalex.org/I141962983"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102822785","display_name":"Genliang Xiong","orcid":"https://orcid.org/0000-0002-1303-6980"},"institutions":[{"id":"https://openalex.org/I141962983","display_name":"Shanghai University of Engineering Science","ror":"https://ror.org/0557b9y08","country_code":"CN","type":"education","lineage":["https://openalex.org/I141962983"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Genliang Xiong","raw_affiliation_strings":["School of Mechanical and Automotive Engineering, Shanghai University of Engineering Science, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Automotive Engineering, Shanghai University of Engineering Science, Shanghai, China","institution_ids":["https://openalex.org/I141962983"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101906990","display_name":"Yanfeng Gao","orcid":"https://orcid.org/0000-0002-5152-6091"},"institutions":[{"id":"https://openalex.org/I141962983","display_name":"Shanghai University of Engineering Science","ror":"https://ror.org/0557b9y08","country_code":"CN","type":"education","lineage":["https://openalex.org/I141962983"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanfeng Gao","raw_affiliation_strings":["School of Mechanical and Automotive Engineering, Shanghai University of Engineering Science, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Automotive Engineering, Shanghai University of Engineering Science, Shanghai, China","institution_ids":["https://openalex.org/I141962983"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075806509","display_name":"Yan Feng","orcid":"https://orcid.org/0000-0002-4974-7004"},"institutions":[{"id":"https://openalex.org/I141962983","display_name":"Shanghai University of Engineering Science","ror":"https://ror.org/0557b9y08","country_code":"CN","type":"education","lineage":["https://openalex.org/I141962983"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yan Feng","raw_affiliation_strings":["School of Mechanical and Automotive Engineering, Shanghai University of Engineering Science, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Automotive Engineering, Shanghai University of Engineering Science, Shanghai, China","institution_ids":["https://openalex.org/I141962983"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5021719107"],"corresponding_institution_ids":["https://openalex.org/I141962983"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":1.395,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.80760458,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"12","issue":null,"first_page":"89562","last_page":"89572"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9991999864578247,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9991999864578247,"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":0.9973999857902527,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9879999756813049,"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/impedance-control","display_name":"Impedance control","score":0.8483006358146667},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6652858853340149},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6444087028503418},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.5982876420021057},{"id":"https://openalex.org/keywords/massage","display_name":"Massage","score":0.5776475071907043},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.56474769115448},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.539277970790863},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.47455033659935},{"id":"https://openalex.org/keywords/fuzzy-control-system","display_name":"Fuzzy control system","score":0.4549349248409271},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.44058021903038025},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.41591715812683105},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.40493297576904297},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.3981297016143799},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.34194785356521606},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.30423426628112793},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1678926646709442},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1388944387435913},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.08533132076263428}],"concepts":[{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.8483006358146667},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6652858853340149},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6444087028503418},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.5982876420021057},{"id":"https://openalex.org/C175259745","wikidata":"https://www.wikidata.org/wiki/Q179415","display_name":"Massage","level":3,"score":0.5776475071907043},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.56474769115448},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.539277970790863},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.47455033659935},{"id":"https://openalex.org/C195975749","wikidata":"https://www.wikidata.org/wiki/Q1475705","display_name":"Fuzzy control system","level":3,"score":0.4549349248409271},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.44058021903038025},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.41591715812683105},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.40493297576904297},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.3981297016143799},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34194785356521606},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.30423426628112793},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1678926646709442},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1388944387435913},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.08533132076263428},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C204787440","wikidata":"https://www.wikidata.org/wiki/Q188504","display_name":"Alternative medicine","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2024.3419177","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3419177","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:6235db23a3134efe9d616bdb73f59524","is_oa":true,"landing_page_url":"https://doaj.org/article/6235db23a3134efe9d616bdb73f59524","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 12, Pp 89562-89572 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2024.3419177","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3419177","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":[],"awards":[{"id":"https://openalex.org/G8702961425","display_name":null,"funder_award_id":"2018YFB1305300","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1540723801","https://openalex.org/W2002153324","https://openalex.org/W2009642500","https://openalex.org/W2017280345","https://openalex.org/W2017972342","https://openalex.org/W2083334607","https://openalex.org/W2084399420","https://openalex.org/W2090974678","https://openalex.org/W2100873103","https://openalex.org/W2105126143","https://openalex.org/W2106021820","https://openalex.org/W2107949070","https://openalex.org/W2126597475","https://openalex.org/W2281978847","https://openalex.org/W2418915271","https://openalex.org/W2526314823","https://openalex.org/W2737417095","https://openalex.org/W2762013224","https://openalex.org/W2789837488","https://openalex.org/W2806455024","https://openalex.org/W2947445257","https://openalex.org/W3026452467","https://openalex.org/W3040760326","https://openalex.org/W3090129374","https://openalex.org/W4221166649","https://openalex.org/W4283218703","https://openalex.org/W4293087476","https://openalex.org/W4295832261","https://openalex.org/W4385631311"],"related_works":["https://openalex.org/W2786196354","https://openalex.org/W4399374581","https://openalex.org/W2071387541","https://openalex.org/W1983135609","https://openalex.org/W2789837488","https://openalex.org/W4229014760","https://openalex.org/W2786003999","https://openalex.org/W4378965995","https://openalex.org/W4286306226","https://openalex.org/W2115512691"],"abstract_inverted_index":{"Due":[0],"to":[1,44,71,141,166,213],"the":[2,19,41,45,52,73,79,82,89,92,97,106,117,129,143,147,151,154,185,192,204,214,225],"deformable":[3],"surface":[4],"and":[5,22,63,96,112,146,196,201],"unknown":[6],"biomechanical":[7],"properties":[8],"of":[9,25,48,81,91,150,203,216],"human":[10,53,57,182,217],"skin":[11,93],"tissue,":[12],"it":[13],"brings":[14],"a":[15,56,64,85,132,157,168,181],"large":[16],"impact":[17],"on":[18,161,224],"contact":[20,99,114,170,183,197],"position":[21,133,145],"force":[23,115,158,171],"control":[24,35,124,142,163,188,211],"robotic":[26],"massage.":[27],"In":[28],"this":[29],"paper,":[30],"an":[31,120],"adaptive":[32,121,136,186,208],"hybrid":[33,123],"impedance":[34,83,162,187,210],"method":[36],"is":[37,126,139,164,180,220],"proposed.":[38,127],"To":[39,77,104],"adapt":[40],"massage":[42,54,118,179,205,227],"robot":[43,98,107,226],"environmental":[46],"changes":[47],"muscle":[49,58,218],"tissues":[50],"in":[51],"area,":[55],"tissue":[59,94,219],"model":[60,74,95,101],"was":[61,69,102],"established,":[62],"recursive":[65],"least":[66],"squares":[67],"algorithm":[68],"optimized":[70],"identify":[72],"parameters":[75,80,90],"online.":[76],"determine":[78],"controller,":[84],"fuzzy":[86,209],"system":[87,206],"between":[88],"dynamics":[100],"developed.":[103],"keep":[105],"with":[108,175],"proper":[109],"end-effector":[110],"orientation":[111],"stable":[113,169],"during":[116,172],"process,":[119],"force-position":[122],"strategy":[125,189],"On":[128,153],"one":[130],"hand,":[131,156],"controller":[134,159],"for":[135],"attitude":[137],"adjustment":[138],"used":[140,165],"move":[144],"normal":[148],"direction":[149],"robot.":[152],"other":[155],"based":[160],"ensure":[167],"dynamic":[173],"interaction":[174,193],"human.":[176],"Furthermore,":[177],"since":[178],"task,":[184],"also":[190],"improves":[191],"safety":[194],"performance":[195],"detection.":[198],"The":[199],"effectiveness":[200],"feasibility":[202],"using":[207],"adapted":[212],"variation":[215],"verified":[221],"through":[222],"experiments":[223],"movement.":[228]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}