{"id":"https://openalex.org/W7123364141","doi":"https://doi.org/10.1109/access.2026.3653650","title":"Optimizing Link Flexibility for Safety and Dynamic Performance for Collaborative Manipulators","display_name":"Optimizing Link Flexibility for Safety and Dynamic Performance for Collaborative Manipulators","publication_year":2026,"publication_date":"2026-01-01","ids":{"openalex":"https://openalex.org/W7123364141","doi":"https://doi.org/10.1109/access.2026.3653650"},"language":"en","primary_location":{"id":"doi:10.1109/access.2026.3653650","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2026.3653650","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.2026.3653650","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5118612876","display_name":"Hafsa Nouhi","orcid":"https://orcid.org/0000-0001-5175-1398"},"institutions":[{"id":"https://openalex.org/I13469542","display_name":"Vrije Universiteit Brussel","ror":"https://ror.org/006e5kg04","country_code":"BE","type":"education","lineage":["https://openalex.org/I13469542"]}],"countries":["BE"],"is_corresponding":true,"raw_author_name":"Hafsa Nouhi","raw_affiliation_strings":["BruBotics, Vrije Universiteit Brussel, Brussels, Belgium"],"affiliations":[{"raw_affiliation_string":"BruBotics, Vrije Universiteit Brussel, Brussels, Belgium","institution_ids":["https://openalex.org/I13469542"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076979073","display_name":"Thomas De Clercq","orcid":"https://orcid.org/0000-0002-9608-0935"},"institutions":[{"id":"https://openalex.org/I2801227569","display_name":"Ghent University Hospital","ror":"https://ror.org/00xmkp704","country_code":"BE","type":"healthcare","lineage":["https://openalex.org/I2801227569"]},{"id":"https://openalex.org/I32597200","display_name":"Ghent University","ror":"https://ror.org/00cv9y106","country_code":"BE","type":"education","lineage":["https://openalex.org/I32597200"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Thomas De Clercq","raw_affiliation_strings":["Dynamic Design Laboratory, Ghent University, Ghent, Belgium"],"affiliations":[{"raw_affiliation_string":"Dynamic Design Laboratory, Ghent University, Ghent, Belgium","institution_ids":["https://openalex.org/I32597200","https://openalex.org/I2801227569"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004557236","display_name":"Chaoyue Fei","orcid":null},"institutions":[{"id":"https://openalex.org/I13469542","display_name":"Vrije Universiteit Brussel","ror":"https://ror.org/006e5kg04","country_code":"BE","type":"education","lineage":["https://openalex.org/I13469542"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Chaoyue Fei","raw_affiliation_strings":["BruBotics, Vrije Universiteit Brussel, Brussels, Belgium"],"affiliations":[{"raw_affiliation_string":"BruBotics, Vrije Universiteit Brussel, Brussels, Belgium","institution_ids":["https://openalex.org/I13469542"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036151236","display_name":"Frederik Ostyn","orcid":"https://orcid.org/0000-0002-5141-7768"},"institutions":[{"id":"https://openalex.org/I2801227569","display_name":"Ghent University Hospital","ror":"https://ror.org/00xmkp704","country_code":"BE","type":"healthcare","lineage":["https://openalex.org/I2801227569"]},{"id":"https://openalex.org/I32597200","display_name":"Ghent University","ror":"https://ror.org/00cv9y106","country_code":"BE","type":"education","lineage":["https://openalex.org/I32597200"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Frederik Ostyn","raw_affiliation_strings":["Dynamic Design Laboratory, Ghent University, Ghent, Belgium"],"affiliations":[{"raw_affiliation_string":"Dynamic Design Laboratory, Ghent University, Ghent, Belgium","institution_ids":["https://openalex.org/I32597200","https://openalex.org/I2801227569"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010016049","display_name":"Bram Vanderborght","orcid":null},"institutions":[{"id":"https://openalex.org/I13469542","display_name":"Vrije Universiteit Brussel","ror":"https://ror.org/006e5kg04","country_code":"BE","type":"education","lineage":["https://openalex.org/I13469542"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Bram Vanderborght","raw_affiliation_strings":["BruBotics, Vrije Universiteit Brussel, Brussels, Belgium"],"affiliations":[{"raw_affiliation_string":"BruBotics, Vrije Universiteit Brussel, Brussels, Belgium","institution_ids":["https://openalex.org/I13469542"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067813287","display_name":"Guillaume Crevecoeur","orcid":"https://orcid.org/0000-0001-7630-8579"},"institutions":[{"id":"https://openalex.org/I2801227569","display_name":"Ghent University Hospital","ror":"https://ror.org/00xmkp704","country_code":"BE","type":"healthcare","lineage":["https://openalex.org/I2801227569"]},{"id":"https://openalex.org/I32597200","display_name":"Ghent University","ror":"https://ror.org/00cv9y106","country_code":"BE","type":"education","lineage":["https://openalex.org/I32597200"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Guillaume Crevecoeur","raw_affiliation_strings":["Dynamic Design Laboratory, Ghent University, Ghent, Belgium"],"affiliations":[{"raw_affiliation_string":"Dynamic Design Laboratory, Ghent University, Ghent, Belgium","institution_ids":["https://openalex.org/I32597200","https://openalex.org/I2801227569"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012437779","display_name":"Greet Van de Perre","orcid":"https://orcid.org/0000-0001-6648-6056"},"institutions":[{"id":"https://openalex.org/I13469542","display_name":"Vrije Universiteit Brussel","ror":"https://ror.org/006e5kg04","country_code":"BE","type":"education","lineage":["https://openalex.org/I13469542"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Greet Van De Perre","raw_affiliation_strings":["BruBotics, Vrije Universiteit Brussel, Brussels, Belgium"],"affiliations":[{"raw_affiliation_string":"BruBotics, Vrije Universiteit Brussel, Brussels, Belgium","institution_ids":["https://openalex.org/I13469542"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5118612876"],"corresponding_institution_ids":["https://openalex.org/I13469542"],"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":0.09329892,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"14","issue":null,"first_page":"9110","last_page":"9123"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.257999986410141,"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":0.257999986410141,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.25609999895095825,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.20569999516010284,"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/flexibility","display_name":"Flexibility (engineering)","score":0.7630000114440918},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.616100013256073},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5242000222206116},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.4997999966144562},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4453999996185303},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.44190001487731934},{"id":"https://openalex.org/keywords/vibration","display_name":"Vibration","score":0.3864000141620636},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.37560001015663147},{"id":"https://openalex.org/keywords/limit","display_name":"Limit (mathematics)","score":0.3610999882221222},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.350600004196167}],"concepts":[{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.7630000114440918},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6480000019073486},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.616100013256073},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5242000222206116},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.4997999966144562},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4453999996185303},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.44190001487731934},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.40380001068115234},{"id":"https://openalex.org/C198394728","wikidata":"https://www.wikidata.org/wiki/Q3695508","display_name":"Vibration","level":2,"score":0.3864000141620636},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.37560001015663147},{"id":"https://openalex.org/C151201525","wikidata":"https://www.wikidata.org/wiki/Q177239","display_name":"Limit (mathematics)","level":2,"score":0.3610999882221222},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.35600000619888306},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.350600004196167},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.3440999984741211},{"id":"https://openalex.org/C49240428","wikidata":"https://www.wikidata.org/wiki/Q3305953","display_name":"Vibration control","level":3,"score":0.3434999883174896},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.3158999979496002},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.2955000102519989},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.2955000102519989},{"id":"https://openalex.org/C77405623","wikidata":"https://www.wikidata.org/wiki/Q598451","display_name":"System dynamics","level":2,"score":0.2913999855518341},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.28760001063346863},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.28439998626708984},{"id":"https://openalex.org/C2778753846","wikidata":"https://www.wikidata.org/wiki/Q6554239","display_name":"Link (geometry)","level":2,"score":0.27889999747276306},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.2775999903678894},{"id":"https://openalex.org/C149808339","wikidata":"https://www.wikidata.org/wiki/Q5319019","display_name":"Dynamic simulation","level":2,"score":0.27079999446868896},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.26969999074935913},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2669000029563904},{"id":"https://openalex.org/C132835097","wikidata":"https://www.wikidata.org/wiki/Q7663745","display_name":"System safety","level":2,"score":0.26420000195503235},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.25999999046325684},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.2596000134944916},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.25600001215934753}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/access.2026.3653650","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2026.3653650","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:vubissmart:VUBISSMART:2000:264214","is_oa":false,"landing_page_url":"https://biblio.vub.ac.be/vubir/optimizing-link-flexibility-for-safety-and-dynamic-performance-for-collaborative-manipulators(376ebcb2-8ea3-480d-aa5f-9c67d5977d04).html","pdf_url":null,"source":{"id":"https://openalex.org/S4306402573","display_name":"VUBIR (Vrije Universiteit Brussel)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I13469542","host_organization_name":"Vrije Universiteit Brussel","host_organization_lineage":["https://openalex.org/I13469542"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},{"id":"pmh:oai:vubissmart:VUBISSMART:2000:264214","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ACCESS.2026.3653650","pdf_url":null,"source":{"id":"https://openalex.org/S4306402573","display_name":"VUBIR (Vrije Universiteit Brussel)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I13469542","host_organization_name":"Vrije Universiteit Brussel","host_organization_lineage":["https://openalex.org/I13469542"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2026.3653650","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2026.3653650","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/G4875912093","display_name":null,"funder_award_id":"12APZ24N","funder_id":"https://openalex.org/F4320321730","funder_display_name":"Fonds Wetenschappelijk Onderzoek"},{"id":"https://openalex.org/G5712549052","display_name":null,"funder_award_id":"G0A9623N","funder_id":"https://openalex.org/F4320321730","funder_display_name":"Fonds Wetenschappelijk Onderzoek"}],"funders":[{"id":"https://openalex.org/F4320321730","display_name":"Fonds Wetenschappelijk Onderzoek","ror":"https://ror.org/03qtxy027"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1579753478","https://openalex.org/W1987623044","https://openalex.org/W1997316724","https://openalex.org/W2004620535","https://openalex.org/W2071503135","https://openalex.org/W2090108740","https://openalex.org/W2090974678","https://openalex.org/W2099269638","https://openalex.org/W2106021820","https://openalex.org/W2115384033","https://openalex.org/W2116139612","https://openalex.org/W2162189406","https://openalex.org/W2471117961","https://openalex.org/W2594548803","https://openalex.org/W2771004379","https://openalex.org/W2797753322","https://openalex.org/W2938098315","https://openalex.org/W3002164543","https://openalex.org/W3161639183","https://openalex.org/W4245882831","https://openalex.org/W4321021371","https://openalex.org/W4411599784","https://openalex.org/W4412567222"],"related_works":[],"abstract_inverted_index":{"Cobots":[0],"are":[1],"designed":[2],"to":[3,25,93,204,230],"work":[4],"in":[5,13,59],"close":[6],"collaboration":[7],"with":[8,142,173,178],"humans.":[9],"To":[10,101,160],"ensure":[11],"safety":[12,77,109,247],"shared":[14],"workspaces,":[15],"ISO/TS":[16,155],"15066":[17,156],"imposes":[18],"limits":[19,33],"on":[20,35,107,130,137,196],"the":[21,27,44,50,60,94,103,131,148,212,225,240],"collaborative":[22,63],"robot":[23,36],"speeds":[24],"limit":[26],"impact":[28,138],"forces":[29],"during":[30,190],"collisions.":[31],"These":[32],"depend":[34],"design,":[37],"including":[38],"inertia.":[39],"Flexible":[40],"link":[41,74,183,206,234],"manipulators":[42],"combine":[43],"advantage":[45],"of":[46,52,62,90,97,105,133,170,224],"lightweight":[47],"design":[48],"and":[49,78,99,113,208,236],"introduction":[51],"an":[53],"elastic":[54],"element,":[55],"which":[56,147],"is":[57,124,193],"promising":[58],"context":[61],"robots.":[64],"However,":[65],"reduced":[66],"stiffness":[67,235],"affects":[68],"dynamic":[69,79,242],"performance.":[70],"As":[71],"trade-offs":[72],"between":[73],"flexibility":[75,91,106],"for":[76,181,211,218],"performance":[80,189,243],"remain":[81],"unclear,":[82],"this":[83],"paper":[84],"investigates":[85],"how":[86],"undesired":[87],"side":[88],"effects":[89],"relate":[92],"positive":[95],"aspects":[96],"compliance":[98],"lightweightness.":[100],"investigate":[102],"effect":[104],"both":[108],"towards":[110],"a":[111,117,127,143,164,171,199,219],"human":[112,144],"controlled":[114],"manipulator":[115],"dynamics,":[116],"generic":[118,165],"simulation":[119,128],"framework":[120],"was":[121,167,202,227],"designed.":[122],"Safety":[123],"assessed":[125],"by":[126],"study":[129],"influence":[132],"varying":[134],"geometrical":[135],"parameters":[136],"force":[139],"at":[140],"collision":[141],"head,":[145],"after":[146],"corresponding":[149],"maximum":[150],"allowable":[151],"end-effector":[152,187],"velocities":[153],"per":[154],"threshold":[157],"were":[158],"derived.":[159],"analyze":[161],"control":[162,209],"performance,":[163],"controller":[166,237],"implemented,":[168],"consisting":[169],"PID":[172],"direct":[174],"strain":[175],"vibration":[176],"control,":[177],"gains":[179,210,238],"optimized":[180],"each":[182],"design.":[184],"The":[185,222],"resulting":[186],"tracking":[188],"point-to-point":[191],"motion":[192,217],"evaluated.":[194],"Based":[195],"these":[197],"results,":[198],"co-design":[200],"methodology":[201],"proposed":[203],"optimize":[205],"geometry":[207],"fastest":[213],"possible,":[214],"yet":[215],"safe":[216],"given":[220],"task.":[221],"effectiveness":[223],"method":[226],"experimentally":[228],"validated":[229],"assess":[231],"whether":[232],"optimal":[233],"yield":[239],"desired":[241],"while":[244],"respecting":[245],"ISO":[246],"thresholds.":[248]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2026-01-14T00:00:00"}