{"id":"https://openalex.org/W2783079486","doi":"https://doi.org/10.1109/humanoids.2017.8246966","title":"A two-staged residual for resilient external torque estimation with series elastic actuators","display_name":"A two-staged residual for resilient external torque estimation with series elastic actuators","publication_year":2017,"publication_date":"2017-11-01","ids":{"openalex":"https://openalex.org/W2783079486","doi":"https://doi.org/10.1109/humanoids.2017.8246966","mag":"2783079486"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2017.8246966","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2017.8246966","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)","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/A5100663730","display_name":"Chan Lee","orcid":"https://orcid.org/0000-0003-0813-6335"},"institutions":[{"id":"https://openalex.org/I193352282","display_name":"Daegu Gyeongbuk Institute of Science and Technology","ror":"https://ror.org/03frjya69","country_code":"KR","type":"education","lineage":["https://openalex.org/I193352282"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Chan Lee","raw_affiliation_strings":["Department of Robotics Engineering, Daegu Gyeongbuk Institute of Science and Technology(DGIST), Daegu, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Robotics Engineering, Daegu Gyeongbuk Institute of Science and Technology(DGIST), Daegu, Korea","institution_ids":["https://openalex.org/I193352282"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017250304","display_name":"Jinoh Lee","orcid":"https://orcid.org/0000-0002-4901-7095"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Jinoh Lee","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT), Genova, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT), Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068938836","display_name":"J\u00f6rn Malzahn","orcid":"https://orcid.org/0000-0001-6367-7869"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Jorn Malzahn","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT), Genova, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT), Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Nikolaos Tsagarakis","orcid":null},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Nikolaos Tsagarakis","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT), Genova, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT), Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5007243736","display_name":"Sehoon Oh","orcid":"https://orcid.org/0000-0003-0838-163X"},"institutions":[{"id":"https://openalex.org/I193352282","display_name":"Daegu Gyeongbuk Institute of Science and Technology","ror":"https://ror.org/03frjya69","country_code":"KR","type":"education","lineage":["https://openalex.org/I193352282"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sehoon Oh","raw_affiliation_strings":["Department of Robotics Engineering, Daegu Gyeongbuk Institute of Science and Technology(DGIST), Daegu, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Robotics Engineering, Daegu Gyeongbuk Institute of Science and Technology(DGIST), Daegu, Korea","institution_ids":["https://openalex.org/I193352282"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.1313,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.51646809,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"817","last_page":"823"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9961000084877014,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9954000115394592,"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/torque","display_name":"Torque","score":0.8247538805007935},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7159548997879028},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6911261081695557},{"id":"https://openalex.org/keywords/residual","display_name":"Residual","score":0.6867152452468872},{"id":"https://openalex.org/keywords/deflection","display_name":"Deflection (physics)","score":0.6652196645736694},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.6002466678619385},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5380243062973022},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.4524180293083191},{"id":"https://openalex.org/keywords/damping-torque","display_name":"Damping torque","score":0.44887638092041016},{"id":"https://openalex.org/keywords/linearity","display_name":"Linearity","score":0.41388773918151855},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4123919606208801},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.38819169998168945},{"id":"https://openalex.org/keywords/direct-torque-control","display_name":"Direct torque control","score":0.3118669390678406},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.18746963143348694},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.17342212796211243},{"id":"https://openalex.org/keywords/induction-motor","display_name":"Induction motor","score":0.11864283680915833},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11013755202293396},{"id":"https://openalex.org/keywords/electronic-engineering","display_name":"Electronic engineering","score":0.06753519177436829}],"concepts":[{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.8247538805007935},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7159548997879028},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6911261081695557},{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.6867152452468872},{"id":"https://openalex.org/C2781355719","wikidata":"https://www.wikidata.org/wiki/Q2080698","display_name":"Deflection (physics)","level":2,"score":0.6652196645736694},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.6002466678619385},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5380243062973022},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.4524180293083191},{"id":"https://openalex.org/C40226289","wikidata":"https://www.wikidata.org/wiki/Q5212950","display_name":"Damping torque","level":5,"score":0.44887638092041016},{"id":"https://openalex.org/C77170095","wikidata":"https://www.wikidata.org/wiki/Q1753188","display_name":"Linearity","level":2,"score":0.41388773918151855},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4123919606208801},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.38819169998168945},{"id":"https://openalex.org/C109871850","wikidata":"https://www.wikidata.org/wiki/Q1227571","display_name":"Direct torque control","level":4,"score":0.3118669390678406},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.18746963143348694},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.17342212796211243},{"id":"https://openalex.org/C80962145","wikidata":"https://www.wikidata.org/wiki/Q207450","display_name":"Induction motor","level":3,"score":0.11864283680915833},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11013755202293396},{"id":"https://openalex.org/C24326235","wikidata":"https://www.wikidata.org/wiki/Q126095","display_name":"Electronic engineering","level":1,"score":0.06753519177436829},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"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/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.0},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids.2017.8246966","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2017.8246966","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","score":0.8399999737739563,"display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1836514138","https://openalex.org/W1853143499","https://openalex.org/W1964043226","https://openalex.org/W2001672192","https://openalex.org/W2039793308","https://openalex.org/W2055913619","https://openalex.org/W2068074219","https://openalex.org/W2073136132","https://openalex.org/W2081959349","https://openalex.org/W2111253117","https://openalex.org/W2111898076","https://openalex.org/W2117038705","https://openalex.org/W2117695905","https://openalex.org/W2131292439","https://openalex.org/W2137165191","https://openalex.org/W2149085596","https://openalex.org/W2158641070","https://openalex.org/W2162109810","https://openalex.org/W2213794149","https://openalex.org/W2220306460","https://openalex.org/W2402376955","https://openalex.org/W2523980053","https://openalex.org/W2536045334","https://openalex.org/W2567951864","https://openalex.org/W2586732371","https://openalex.org/W2730083658"],"related_works":["https://openalex.org/W2328640053","https://openalex.org/W2107398868","https://openalex.org/W3113939018","https://openalex.org/W2362527675","https://openalex.org/W2114550905","https://openalex.org/W2158120472","https://openalex.org/W2377958454","https://openalex.org/W4225988789","https://openalex.org/W1028179284","https://openalex.org/W2164275535"],"abstract_inverted_index":{"Collaborative":[0],"robots":[1],"driven":[2,102],"by":[3,41,111,156],"Series":[4],"Elastic":[5],"Actuators":[6],"(SEA)":[7],"exploit":[8],"physical":[9],"compliance,":[10],"which":[11,67],"enables":[12],"joint":[13,73],"torque":[14,36,64,74,79,98,136],"sensing":[15,75],"to":[16,62,128],"accurately":[17],"estimate":[18],"external":[19,78,97,135],"contact":[20],"torques":[21],"based":[22,96],"on":[23],"residual":[24,95,109,153],"momenta.":[25],"The":[26,104,148],"deflection":[27,59],"measurement":[28],"precision":[29],"for":[30,76,100,133],"the":[31,35,55,69,94,108,112,126,130,134,151,159,162],"compliant":[32],"element":[33],"determines":[34],"accuracy.":[37],"It":[38],"is":[39,154],"affected":[40],"support":[42],"clearances,":[43],"assembly":[44],"tolerances,":[45],"stiffness":[46,56,83,146],"calibration":[47],"errors":[48,60],"as":[49,51],"well":[50],"unmodelled":[52],"non-linearity.":[53],"Moreover,":[54],"value":[57],"amplifies":[58],"leading":[61],"larger":[63],"estimation":[65,80,99],"errors,":[66],"limits":[68],"benefits":[70],"of":[71,93,150,161],"integrated":[72],"enhanced":[77],"with":[81,158],"higher":[82],"SEAs.":[84],"Accordingly,":[85],"this":[86,139],"paper":[87],"newly":[88],"proposes":[89],"a":[90],"two-staged":[91,152],"approach":[92],"SEA":[101,160],"robots.":[103],"proposed":[105],"method":[106],"augments":[107],"calculation":[110],"motor-side":[113],"dynamics,":[114],"uses":[115],"both,":[116],"motor":[117],"and":[118,142],"link":[119],"side":[120],"angular":[121],"measurements,":[122],"but":[123],"entirely":[124],"waives":[125],"need":[127],"model":[129],"spring":[131],"dynamics":[132],"estimation.":[137],"Consequently,":[138],"improves":[140],"accuracy":[141],"sensitivity":[143],"in":[144],"wide-ranging":[145],"applications.":[147],"performance":[149],"verified":[155],"experiments":[157],"WALK-MAN":[163],"humanoid":[164],"robot.":[165]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2018,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}