{"id":"https://openalex.org/W4406728244","doi":"https://doi.org/10.1109/access.2025.3532633","title":"Repetitive Control of Robotic Joint With Variable Impedance Utilizing Agonist-Antagonist Muscle Pair Structure Based on Virtual Trajectories","display_name":"Repetitive Control of Robotic Joint With Variable Impedance Utilizing Agonist-Antagonist Muscle Pair Structure Based on Virtual Trajectories","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4406728244","doi":"https://doi.org/10.1109/access.2025.3532633"},"language":"en","primary_location":{"id":"doi:10.1109/access.2025.3532633","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3532633","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.2025.3532633","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5083854260","display_name":"Kazunori Umeda","orcid":"https://orcid.org/0000-0002-4458-4648"},"institutions":[{"id":"https://openalex.org/I20529979","display_name":"University of Electro-Communications","ror":"https://ror.org/02x73b849","country_code":"JP","type":"education","lineage":["https://openalex.org/I20529979"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Kaho Umeda","raw_affiliation_strings":["Department of Mechanical and Intelligent Systems Engineering, The University of Electro-Communications, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Intelligent Systems Engineering, The University of Electro-Communications, Tokyo, Japan","institution_ids":["https://openalex.org/I20529979"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076935808","display_name":"Yinlai Jiang","orcid":"https://orcid.org/0000-0002-0825-6444"},"institutions":[{"id":"https://openalex.org/I20529979","display_name":"University of Electro-Communications","ror":"https://ror.org/02x73b849","country_code":"JP","type":"education","lineage":["https://openalex.org/I20529979"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yinlai Jiang","raw_affiliation_strings":["Center for Neuroscience and Biomedical Engineering, The University of Electro-Communications, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Center for Neuroscience and Biomedical Engineering, The University of Electro-Communications, Tokyo, Japan","institution_ids":["https://openalex.org/I20529979"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057191362","display_name":"Hiroshi Yokoi","orcid":"https://orcid.org/0000-0001-8571-1175"},"institutions":[{"id":"https://openalex.org/I20529979","display_name":"University of Electro-Communications","ror":"https://ror.org/02x73b849","country_code":"JP","type":"education","lineage":["https://openalex.org/I20529979"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hiroshi Yokoi","raw_affiliation_strings":["Department of Mechanical and Intelligent Systems Engineering, The University of Electro-Communications, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Intelligent Systems Engineering, The University of Electro-Communications, Tokyo, Japan","institution_ids":["https://openalex.org/I20529979"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042274951","display_name":"Shunta Togo","orcid":"https://orcid.org/0000-0002-3464-0765"},"institutions":[{"id":"https://openalex.org/I20529979","display_name":"University of Electro-Communications","ror":"https://ror.org/02x73b849","country_code":"JP","type":"education","lineage":["https://openalex.org/I20529979"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shunta Togo","raw_affiliation_strings":["Department of Mechanical and Intelligent Systems Engineering, The University of Electro-Communications, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Intelligent Systems Engineering, The University of Electro-Communications, Tokyo, Japan","institution_ids":["https://openalex.org/I20529979"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5083854260"],"corresponding_institution_ids":["https://openalex.org/I20529979"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.01213377,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"13","issue":null,"first_page":"16866","last_page":"16878"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9805999994277954,"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":0.9805999994277954,"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":0.9801999926567078,"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":0.6260165572166443},{"id":"https://openalex.org/keywords/agonist","display_name":"Agonist","score":0.5872495770454407},{"id":"https://openalex.org/keywords/antagonist","display_name":"Antagonist","score":0.5637699365615845},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.509135901927948},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.5064758062362671},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.49085909128189087},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4860380291938782},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.43685874342918396},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4175175428390503},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3117785155773163},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25419822335243225},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14481568336486816},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.14272931218147278},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14180243015289307},{"id":"https://openalex.org/keywords/receptor","display_name":"Receptor","score":0.1394970417022705},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.1012316644191742},{"id":"https://openalex.org/keywords/internal-medicine","display_name":"Internal medicine","score":0.09433314204216003},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.07309234142303467}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6260165572166443},{"id":"https://openalex.org/C2778938600","wikidata":"https://www.wikidata.org/wiki/Q389934","display_name":"Agonist","level":3,"score":0.5872495770454407},{"id":"https://openalex.org/C2776885963","wikidata":"https://www.wikidata.org/wiki/Q245204","display_name":"Antagonist","level":3,"score":0.5637699365615845},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.509135901927948},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.5064758062362671},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.49085909128189087},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4860380291938782},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.43685874342918396},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4175175428390503},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3117785155773163},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25419822335243225},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14481568336486816},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.14272931218147278},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14180243015289307},{"id":"https://openalex.org/C170493617","wikidata":"https://www.wikidata.org/wiki/Q208467","display_name":"Receptor","level":2,"score":0.1394970417022705},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.1012316644191742},{"id":"https://openalex.org/C126322002","wikidata":"https://www.wikidata.org/wiki/Q11180","display_name":"Internal medicine","level":1,"score":0.09433314204216003},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.07309234142303467},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2025.3532633","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3532633","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:4625449785ab4a9da419a483e730f51b","is_oa":true,"landing_page_url":"https://doaj.org/article/4625449785ab4a9da419a483e730f51b","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 13, Pp 16866-16878 (2025)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2025.3532633","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3532633","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/G3961912068","display_name":null,"funder_award_id":"JP22K04025","funder_id":"https://openalex.org/F4320320212","funder_display_name":"Japan Society for the Promotion of Science London"},{"id":"https://openalex.org/G694181387","display_name":null,"funder_award_id":"JP23H00166","funder_id":"https://openalex.org/F4320320212","funder_display_name":"Japan Society for the Promotion of Science London"}],"funders":[{"id":"https://openalex.org/F4320320212","display_name":"Japan Society for the Promotion of Science London","ror":"https://ror.org/02m7axw05"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W203724693","https://openalex.org/W1885639605","https://openalex.org/W1892385946","https://openalex.org/W1965386059","https://openalex.org/W1972361065","https://openalex.org/W1981815942","https://openalex.org/W2001389197","https://openalex.org/W2002161214","https://openalex.org/W2003177125","https://openalex.org/W2016958754","https://openalex.org/W2017239762","https://openalex.org/W2070122598","https://openalex.org/W2073136132","https://openalex.org/W2081254081","https://openalex.org/W2092685321","https://openalex.org/W2104544700","https://openalex.org/W2112707027","https://openalex.org/W2117838539","https://openalex.org/W2126319939","https://openalex.org/W2135482175","https://openalex.org/W2142382640","https://openalex.org/W2148259688","https://openalex.org/W2167963375","https://openalex.org/W2169706473","https://openalex.org/W2173194528","https://openalex.org/W2333868129","https://openalex.org/W2562207568","https://openalex.org/W2576246534","https://openalex.org/W2618733545","https://openalex.org/W2746021539","https://openalex.org/W2768174095","https://openalex.org/W2784648116","https://openalex.org/W3003170810","https://openalex.org/W3087513149","https://openalex.org/W3111083025","https://openalex.org/W3199956810","https://openalex.org/W4205996330","https://openalex.org/W4285412736","https://openalex.org/W4306735352","https://openalex.org/W4316372766","https://openalex.org/W4389393796","https://openalex.org/W4389459180","https://openalex.org/W4391307609"],"related_works":["https://openalex.org/W2125471807","https://openalex.org/W2114161702","https://openalex.org/W3021603022","https://openalex.org/W2033181528","https://openalex.org/W1548357495","https://openalex.org/W2314048082","https://openalex.org/W1968487248","https://openalex.org/W2097006611","https://openalex.org/W3216947764","https://openalex.org/W4295916778"],"abstract_inverted_index":{"Realizing":[0],"accurate":[1],"trajectory-tracking":[2,191],"control":[3,19,28,100,174,192,223,234],"for":[4,31,97],"flexible":[5,32],"robotic":[6,42,133],"joints":[7],"using":[8,148],"a":[9,26,40,45,56,89,95,102,109,132,149,154,168],"model-free":[10,27],"approach":[11],"is":[12,25,35,53,72,198,218],"challenging.":[13],"In":[14,66],"this":[15,92],"study,":[16],"the":[17,60,64,69,76,116,122,173,186,195,202,208,215,230,233,237,243],"repetitive":[18,81,99,128],"based":[20],"on":[21],"virtual":[22,51,70],"trajectory,":[23,118],"which":[24,156],"method":[29,188,217],"proposed":[30,187,216],"human":[33],"multi-joints,":[34],"extended":[36],"and":[37,106,180,236,241],"applied":[38],"to":[39,75,108,115,163,167],"real":[41,181],"joint":[43,104,111,134,196,226],"with":[44,88,101,135,153,161],"variable":[46],"mechanical":[47,146],"impedance":[48,105,112,124,147,197,238],"mechanism.":[49],"The":[50,176],"trajectory":[52,71,77,85,203,221],"modeled":[54],"by":[55,127],"time":[57],"series":[58],"of":[59,63,178,207,220,232],"equilibrium":[61],"position":[62],"spring.":[65],"conventional":[67,209],"methods,":[68],"corrected":[73],"according":[74],"error":[78],"resulting":[79],"from":[80,205],"control.":[82,129],"To":[83],"achieve":[84,190],"tracking":[86,222],"even":[87,193,228],"soft":[90],"joint,":[91],"study":[93],"proposes":[94],"strategy":[96],"starting":[98],"high":[103],"switching":[107],"lower":[110],"after":[113,242],"convergence":[114],"target":[117,235],"thereby":[119],"successively":[120],"correcting":[121],"estimated":[123],"change":[125,144,244],"ratio":[126],"We":[130],"developed":[131],"an":[136],"agonist-antagonist":[137],"muscle":[138],"pair":[139],"structure":[140],"that":[141,185,201,206,214,247],"can":[142,189],"easily":[143],"its":[145,158],"position-controlled":[150],"motor":[151],"combined":[152],"grommet,":[155],"changes":[157],"stiffness":[159],"nonlinearly":[160],"respect":[162],"elongation,":[164],"in":[165],"addition":[166],"wire":[169],"traction":[170],"mechanism":[171],"as":[172],"target.":[175],"results":[177,212],"simulations":[179],"robot":[182],"experiments":[183],"demonstrated":[184],"when":[194,229],"so":[199],"low":[200],"diverges":[204],"method.":[210],"These":[211],"show":[213],"capable":[219],"while":[224],"maintaining":[225],"softness":[227],"dynamics":[231],"values":[239],"before":[240],"are":[245],"unknown,":[246],"is,":[248],"model-free.":[249]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
