{"id":"https://openalex.org/W2800879642","doi":"https://doi.org/10.1109/haptics.2018.8357150","title":"Dynamic model of cable-conduit actuation for interaction with non-passive environments","display_name":"Dynamic model of cable-conduit actuation for interaction with non-passive environments","publication_year":2018,"publication_date":"2018-03-01","ids":{"openalex":"https://openalex.org/W2800879642","doi":"https://doi.org/10.1109/haptics.2018.8357150","mag":"2800879642"},"language":"en","primary_location":{"id":"doi:10.1109/haptics.2018.8357150","is_oa":false,"landing_page_url":"https://doi.org/10.1109/haptics.2018.8357150","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE Haptics Symposium (HAPTICS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5050619515","display_name":"Andrew Borowski","orcid":null},"institutions":[{"id":"https://openalex.org/I86501945","display_name":"University of Delaware","ror":"https://ror.org/01sbq1a82","country_code":"US","type":"education","lineage":["https://openalex.org/I86501945"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Andrew Borowski","raw_affiliation_strings":["Department of Biomedical Engineering, University of Delaware, Newark, DE"],"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, University of Delaware, Newark, DE","institution_ids":["https://openalex.org/I86501945"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059633278","display_name":"A. Metz","orcid":"https://orcid.org/0000-0002-9634-9033"},"institutions":[{"id":"https://openalex.org/I86501945","display_name":"University of Delaware","ror":"https://ror.org/01sbq1a82","country_code":"US","type":"education","lineage":["https://openalex.org/I86501945"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alexander Metz","raw_affiliation_strings":["Department of Biomedical Engineering, University of Delaware, Newark, DE"],"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, University of Delaware, Newark, DE","institution_ids":["https://openalex.org/I86501945"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050573682","display_name":"Fabrizio Sergi","orcid":"https://orcid.org/0000-0003-3019-2958"},"institutions":[{"id":"https://openalex.org/I86501945","display_name":"University of Delaware","ror":"https://ror.org/01sbq1a82","country_code":"US","type":"education","lineage":["https://openalex.org/I86501945"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Fabrizio Sergi","raw_affiliation_strings":["Department of Biomedical Engineering, University of Delaware, Newark, DE"],"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, University of Delaware, Newark, DE","institution_ids":["https://openalex.org/I86501945"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5050619515"],"corresponding_institution_ids":["https://openalex.org/I86501945"],"apc_list":null,"apc_paid":null,"fwci":0.109,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.42697249,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"40","last_page":"45"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9986000061035156,"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":0.9986000061035156,"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":0.9976999759674072,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9972000122070312,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/electrical-conduit","display_name":"Electrical conduit","score":0.7745990753173828},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6463045477867126},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5821674466133118},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.513272762298584},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5088784694671631},{"id":"https://openalex.org/keywords/displacement","display_name":"Displacement (psychology)","score":0.5085073709487915},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.42624861001968384},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.41488680243492126},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4048886299133301},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.335110068321228},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.21509724855422974},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.16807100176811218},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.13369494676589966},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1287042796611786}],"concepts":[{"id":"https://openalex.org/C89836073","wikidata":"https://www.wikidata.org/wiki/Q1719631","display_name":"Electrical conduit","level":2,"score":0.7745990753173828},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6463045477867126},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5821674466133118},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.513272762298584},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5088784694671631},{"id":"https://openalex.org/C107551265","wikidata":"https://www.wikidata.org/wiki/Q1458245","display_name":"Displacement (psychology)","level":2,"score":0.5085073709487915},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.42624861001968384},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.41488680243492126},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4048886299133301},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.335110068321228},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.21509724855422974},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.16807100176811218},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.13369494676589966},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1287042796611786},{"id":"https://openalex.org/C542102704","wikidata":"https://www.wikidata.org/wiki/Q183257","display_name":"Psychotherapist","level":1,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/haptics.2018.8357150","is_oa":false,"landing_page_url":"https://doi.org/10.1109/haptics.2018.8357150","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE Haptics Symposium (HAPTICS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5799999833106995,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1967845520","https://openalex.org/W1980753202","https://openalex.org/W2032941355","https://openalex.org/W2041738707","https://openalex.org/W2043137231","https://openalex.org/W2073407198","https://openalex.org/W2103229768","https://openalex.org/W2133076227","https://openalex.org/W2140031923","https://openalex.org/W2148380797","https://openalex.org/W2151420688","https://openalex.org/W2154578892","https://openalex.org/W2162394694","https://openalex.org/W2165506721","https://openalex.org/W2168224345","https://openalex.org/W2527528220","https://openalex.org/W2752474214"],"related_works":["https://openalex.org/W2435707750","https://openalex.org/W2385261142","https://openalex.org/W2353435810","https://openalex.org/W2354004898","https://openalex.org/W2339061914","https://openalex.org/W1558035940","https://openalex.org/W13026669","https://openalex.org/W1668164903","https://openalex.org/W2102251812","https://openalex.org/W2066459308"],"abstract_inverted_index":{"Remote":[0],"actuation":[1],"is":[2,73,150,161],"useful":[3,74],"in":[4,163,185],"human-interacting":[5,126],"robots":[6],"to":[7,18,32,50,75,138,152],"reduce":[8],"dynamic":[9,71],"loading":[10],"on":[11],"distal":[12,34],"joints.":[13],"Cable-conduit":[14],"transmissions,":[15],"sometimes":[16],"referred":[17],"as":[19,59],"Bowden":[20],"cable":[21,67],"or":[22,83,141],"tendon-sheath":[23],"actuation,":[24],"are":[25],"a":[26,33,37,60,94,153,164,173],"lightweight":[27],"option":[28],"for":[29,98,123],"transferring":[30],"power":[31],"joint":[35],"from":[36,52],"remotely":[38],"located":[39],"actuator.":[40],"However,":[41],"the":[42,48,86,118,130,133,136,147,186],"nature":[43],"of":[44,62,79,115,125,144,156],"such":[45],"transmissions":[46],"causes":[47],"system":[49],"suffer":[51],"diminished":[53],"efficiency":[54],"and":[55,68,132],"high":[56],"reflected":[57],"impedance":[58],"result":[61],"distributed":[63],"frictional":[64],"effects":[65],"between":[66],"conduit.":[69],"A":[70],"model":[72,97,111,149,160,180],"produce":[76],"controllers":[77],"capable":[78],"accurately":[80,181],"tracking":[81],"force":[82],"displacement":[84],"at":[85],"system's":[87],"output.":[88],"In":[89],"this":[90,145],"paper,":[91],"we":[92],"present":[93],"new":[95],"computational":[96],"cable-conduit":[99,119],"systems":[100,127],"that":[101,178],"describes":[102],"interaction":[103,171],"with":[104,172],"non-passive":[105],"environments.":[106],"Unlike":[107],"previous":[108],"models,":[109],"our":[110,179],"features":[112],"bi-directional":[113],"propagation":[114],"motion":[116,140],"within":[117],"system.":[120,188],"This":[121],"allows":[122],"simulation":[124],"where":[128],"both":[129],"human":[131,174],"robot":[134],"have":[135],"capability":[137],"impose":[139],"force.":[142],"Because":[143],"feature,":[146],"developed":[148],"applicable":[151],"wide":[154],"range":[155],"physical":[157,165,170],"systems.":[158],"The":[159],"validated":[162],"prototype":[166],"through":[167],"experiments":[168],"involving":[169],"subject.":[175],"We":[176],"show":[177],"predicts":[182],"behaviors":[183],"observed":[184],"experimental":[187]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
