{"id":"https://openalex.org/W4403535146","doi":"https://doi.org/10.1109/icarm62033.2024.10715925","title":"Model-Based Tension And State Estimation For Sensorless Joints Tendon-Driven Mechanisms","display_name":"Model-Based Tension And State Estimation For Sensorless Joints Tendon-Driven Mechanisms","publication_year":2024,"publication_date":"2024-07-08","ids":{"openalex":"https://openalex.org/W4403535146","doi":"https://doi.org/10.1109/icarm62033.2024.10715925"},"language":"en","primary_location":{"id":"doi:10.1109/icarm62033.2024.10715925","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm62033.2024.10715925","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 International Conference on Advanced Robotics and Mechatronics (ICARM)","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/A5013792445","display_name":"Josef Da Silva Bernardo Neto","orcid":null},"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":"Josef Da Silva Bernardo Neto","raw_affiliation_strings":["the University of Electro-Communications,Department of Mechanical Engineering and Intelligent Systems,Tokyo,Japan,182-8585"],"affiliations":[{"raw_affiliation_string":"the University of Electro-Communications,Department of Mechanical Engineering and Intelligent Systems,Tokyo,Japan,182-8585","institution_ids":["https://openalex.org/I20529979"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101634654","display_name":"Wenyang Li","orcid":"https://orcid.org/0000-0001-9499-7435"},"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":"Wenyang Li","raw_affiliation_strings":["the University of Electro-Communications,Department of Mechanical Engineering and Intelligent Systems,Tokyo,Japan,182-8585"],"affiliations":[{"raw_affiliation_string":"the University of Electro-Communications,Department of Mechanical Engineering and Intelligent Systems,Tokyo,Japan,182-8585","institution_ids":["https://openalex.org/I20529979"]}]},{"author_position":"middle","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":["the University of Electro-Communications,Department of Mechanical Engineering and Intelligent Systems,Tokyo,Japan,182-8585"],"affiliations":[{"raw_affiliation_string":"the University of Electro-Communications,Department of Mechanical Engineering and Intelligent Systems,Tokyo,Japan,182-8585","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":["the University of Electro-Communications,Department of Mechanical Engineering and Intelligent Systems,Tokyo,Japan,182-8585"],"affiliations":[{"raw_affiliation_string":"the University of Electro-Communications,Department of Mechanical Engineering and Intelligent Systems,Tokyo,Japan,182-8585","institution_ids":["https://openalex.org/I20529979"]}]},{"author_position":"last","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":["the University of Electro-Communications,Center for Neuroscience and Biomedical Engineering,Tokyo,Japan,182-8585"],"affiliations":[{"raw_affiliation_string":"the University of Electro-Communications,Center for Neuroscience and Biomedical Engineering,Tokyo,Japan,182-8585","institution_ids":["https://openalex.org/I20529979"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5013792445"],"corresponding_institution_ids":["https://openalex.org/I20529979"],"apc_list":null,"apc_paid":null,"fwci":0.2823,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.5641428,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"106","last_page":"112"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10534","display_name":"Structural Health Monitoring Techniques","score":0.9797999858856201,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T10534","display_name":"Structural Health Monitoring Techniques","score":0.9797999858856201,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9538000226020813,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9485999941825867,"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/tension","display_name":"Tension (geology)","score":0.662198543548584},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5547661185264587},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.5404568314552307},{"id":"https://openalex.org/keywords/tendon","display_name":"Tendon","score":0.516184389591217},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5114558935165405},{"id":"https://openalex.org/keywords/estimation","display_name":"Estimation","score":0.46349000930786133},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26514142751693726},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.2038632333278656},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.13208907842636108},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12259885668754578},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.1044837236404419},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.08251795172691345},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.07265827059745789},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.06781363487243652},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.06738358736038208}],"concepts":[{"id":"https://openalex.org/C186068551","wikidata":"https://www.wikidata.org/wiki/Q13255585","display_name":"Tension (geology)","level":3,"score":0.662198543548584},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5547661185264587},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.5404568314552307},{"id":"https://openalex.org/C2780105995","wikidata":"https://www.wikidata.org/wiki/Q232358","display_name":"Tendon","level":2,"score":0.516184389591217},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5114558935165405},{"id":"https://openalex.org/C96250715","wikidata":"https://www.wikidata.org/wiki/Q965330","display_name":"Estimation","level":2,"score":0.46349000930786133},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26514142751693726},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.2038632333278656},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.13208907842636108},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12259885668754578},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.1044837236404419},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.08251795172691345},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.07265827059745789},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.06781363487243652},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.06738358736038208},{"id":"https://openalex.org/C112950240","wikidata":"https://www.wikidata.org/wiki/Q76005","display_name":"Ultimate tensile strength","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarm62033.2024.10715925","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm62033.2024.10715925","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 International Conference on Advanced Robotics and Mechatronics (ICARM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W2074591652","https://openalex.org/W2079830066","https://openalex.org/W2091058136","https://openalex.org/W2126423185","https://openalex.org/W2148817703","https://openalex.org/W2292531142","https://openalex.org/W2594276447","https://openalex.org/W2739157317","https://openalex.org/W2765148566","https://openalex.org/W2808667805","https://openalex.org/W3002346262","https://openalex.org/W3006438999","https://openalex.org/W3011171486","https://openalex.org/W3093824075","https://openalex.org/W3128798902","https://openalex.org/W3131101346","https://openalex.org/W3138433921","https://openalex.org/W4205621683","https://openalex.org/W4312381794"],"related_works":["https://openalex.org/W2045352797","https://openalex.org/W1982160337","https://openalex.org/W2280685604","https://openalex.org/W1971380437","https://openalex.org/W2106268159","https://openalex.org/W2036845782","https://openalex.org/W4200326729","https://openalex.org/W2770783682","https://openalex.org/W202540107","https://openalex.org/W1983548084"],"abstract_inverted_index":{"The":[0,91,142,156],"main":[1],"benefits":[2],"of":[3,29,47,82,133,144],"tendon-driven":[4,89],"mechanisms":[5],"(TDMs)":[6],"in":[7,32,54,67,85,110,195],"robotics":[8],"applications":[9],"are":[10],"their":[11],"lightness":[12],"and":[13,20,70,100,121,166,178,186],"flexibility.":[14],"When":[15],"equipped":[16],"with":[17,127],"position,":[18],"velocity,":[19],"tension":[21,66,84,108,135,179,198],"sensors,":[22],"they":[23],"can":[24,43],"be":[25],"efficiently":[26],"controlled.":[27],"One":[28],"the":[30,45,57,65,68,80,107,111,114,138,151],"challenges":[31],"TDM":[33],"is":[34,40,62],"to":[35,51,63,105,137],"prevent":[36],"tendon":[37,197],"slackness.":[38],"This":[39,77],"because":[41],"slackness":[42],"impede":[44],"transfer":[46],"motion":[48],"from":[49],"actuators":[50],"joints,":[52],"resulting":[53],"inaccuracies":[55],"within":[56],"system.":[58],"An":[59],"optimal":[60],"solution":[61,93],"estimate":[64,106],"tendons":[69],"set":[71],"boundaries":[72],"for":[73,150],"its":[74],"elastic":[75],"expansion.":[76],"paper":[78],"addresses":[79],"issue":[81],"estimating":[83],"a":[86,96,124,130],"sensorless":[87],"joint":[88],"mechanism.":[90],"proposed":[92],"involves":[94],"utilizing":[95],"nonlinear":[97,102],"exponential":[98],"spring":[99],"smooth":[101],"damper":[103],"model":[104],"behavior":[109],"tendons.":[112],"Subsequently,":[113],"formulated":[115],"theory":[116],"was":[117,159],"validated":[118],"through":[119],"simulations":[120,146],"tested":[122],"on":[123],"singleDoF":[125],"TDM,":[126],"results":[128,143],"indicating":[129,192],"superior":[131],"approximation":[132],"actual":[134],"compared":[136],"conventional":[139],"Kelvin-Voigt":[140],"method.":[141],"these":[145],"provide":[147],"strong":[148],"support":[149],"theoretical":[152],"framework":[153],"under":[154],"examination.":[155],"model\u2019s":[157],"performance":[158],"evaluated":[160],"using":[161],"mean":[162,167],"square":[163],"error":[164,169,177,181],"(MSE)":[165],"absolute":[168],"(MAE).":[170],"Results":[171],"showed":[172],"that":[173],"both":[174],"position":[175],"tracking":[176],"estimation":[180],"were":[182],"less":[183],"than":[184],"0.001\u00b0":[185],"$\\mathbf{1}":[187],"\\mathbf{~":[188],"m":[189],"N}$":[190],"respectively,":[191],"high":[193],"effectiveness":[194],"capturing":[196],"variation.":[199]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2025-12-21T01:58:51.020947","created_date":"2025-10-10T00:00:00"}
