{"id":"https://openalex.org/W2066967876","doi":"https://doi.org/10.1109/icmech.2013.6519130","title":"Closed-loop position control of artificial muscles with a single integral action: Application to robust positioning of McKibben artificial muscle","display_name":"Closed-loop position control of artificial muscles with a single integral action: Application to robust positioning of McKibben artificial muscle","publication_year":2013,"publication_date":"2013-02-01","ids":{"openalex":"https://openalex.org/W2066967876","doi":"https://doi.org/10.1109/icmech.2013.6519130","mag":"2066967876"},"language":"en","primary_location":{"id":"doi:10.1109/icmech.2013.6519130","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icmech.2013.6519130","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Mechatronics (ICM)","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/A5021488416","display_name":"Bertrand Tondu","orcid":"https://orcid.org/0000-0002-0301-397X"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210098964","display_name":"Toulouse Mathematics Institute","ror":null,"country_code":"FR","type":null,"lineage":["https://openalex.org/I4210098964"]},{"id":"https://openalex.org/I17866349","display_name":"Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]},{"id":"https://openalex.org/I134560555","display_name":"Universit\u00e9 Toulouse III - Paul Sabatier","ror":"https://ror.org/02v6kpv12","country_code":"FR","type":"education","lineage":["https://openalex.org/I134560555","https://openalex.org/I4405258862"]},{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I134560555","https://openalex.org/I190497903","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210159245","https://openalex.org/I4387153255","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"B. Tondu","raw_affiliation_strings":["CNRS ; LAAS, Toulouse, France","UPS, INSA, INP, ISAE ; UT1, UTM, LAAS, University of Toulouse, Toulouse, France","LAAS, Toulouse, France","UPS, INSA, INP, ISAE","UT1, UTM, LAAS, University of Toulouse, Toulouse, France"],"affiliations":[{"raw_affiliation_string":"CNRS ; LAAS, Toulouse, France","institution_ids":["https://openalex.org/I4210098964","https://openalex.org/I17866349","https://openalex.org/I1294671590","https://openalex.org/I190497903"]},{"raw_affiliation_string":"UPS, INSA, INP, ISAE ; UT1, UTM, LAAS, University of Toulouse, Toulouse, France","institution_ids":["https://openalex.org/I134560555","https://openalex.org/I17866349","https://openalex.org/I190497903"]},{"raw_affiliation_string":"LAAS, Toulouse, France","institution_ids":["https://openalex.org/I190497903"]},{"raw_affiliation_string":"UPS, INSA, INP, ISAE","institution_ids":[]},{"raw_affiliation_string":"UT1, UTM, LAAS, University of Toulouse, Toulouse, France","institution_ids":["https://openalex.org/I17866349","https://openalex.org/I190497903"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5021488416"],"corresponding_institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I134560555","https://openalex.org/I17866349","https://openalex.org/I190497903","https://openalex.org/I4210098964"],"apc_list":null,"apc_paid":null,"fwci":0.9992,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.76379746,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"718","last_page":"723"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9984999895095825,"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":0.9984999895095825,"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":0.9977999925613403,"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9940999746322632,"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/artificial-muscle","display_name":"Artificial muscle","score":0.9222806096076965},{"id":"https://openalex.org/keywords/pneumatic-artificial-muscles","display_name":"Pneumatic artificial muscles","score":0.8991595506668091},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7770936489105225},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6425402164459229},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6400439143180847},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.580125093460083},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.5375440120697021},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4808667302131653},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.376143217086792},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3239370882511139},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3227992653846741},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3207513093948364},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.154510498046875},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10292825102806091},{"id":"https://openalex.org/keywords/temperature-control","display_name":"Temperature control","score":0.05846497416496277}],"concepts":[{"id":"https://openalex.org/C196628372","wikidata":"https://www.wikidata.org/wiki/Q4801090","display_name":"Artificial muscle","level":3,"score":0.9222806096076965},{"id":"https://openalex.org/C2778313331","wikidata":"https://www.wikidata.org/wiki/Q2317989","display_name":"Pneumatic artificial muscles","level":4,"score":0.8991595506668091},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7770936489105225},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6425402164459229},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6400439143180847},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.580125093460083},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.5375440120697021},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4808667302131653},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.376143217086792},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3239370882511139},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3227992653846741},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3207513093948364},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.154510498046875},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10292825102806091},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.05846497416496277},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icmech.2013.6519130","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icmech.2013.6519130","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Mechatronics (ICM)","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":9,"referenced_works":["https://openalex.org/W1978769786","https://openalex.org/W2028402719","https://openalex.org/W2064657462","https://openalex.org/W2070184318","https://openalex.org/W2111453604","https://openalex.org/W2115730616","https://openalex.org/W2160053497","https://openalex.org/W6645062025","https://openalex.org/W6683630122"],"related_works":["https://openalex.org/W2162848954","https://openalex.org/W91770536","https://openalex.org/W2061848878","https://openalex.org/W2020912483","https://openalex.org/W2742397931","https://openalex.org/W2360194697","https://openalex.org/W1573724835","https://openalex.org/W2131445915","https://openalex.org/W2104362930","https://openalex.org/W1978574942"],"abstract_inverted_index":{"Artificial":[0],"muscles":[1],"constitute":[2],"a":[3,30,58,65,78],"large":[4],"class":[5],"of":[6,21,29,39,46,89],"non-linear":[7],"actuators":[8],"characterized":[9],"by":[10],"their":[11],"own":[12,49],"stiffness":[13,50],"and":[14,51,73,95],"damping.":[15],"We":[16],"analyze":[17],"in":[18,43,53],"the":[19,27,86,90],"case":[20],"an":[22,61],"axial":[23],"contraction":[24],"artificial":[25,47],"muscle":[26,48,82],"relevance":[28],"single":[31],"integral":[32],"action":[33],"closed-loop":[34],"controller.":[35],"The":[36],"basic":[37],"idea":[38],"our":[40],"approach":[41],"consists":[42],"taking":[44],"advantage":[45],"damping":[52],"order":[54],"to":[55,70,92],"substitute":[56],"for":[57],"classic":[59],"PID-controller":[60],"I-controller":[62],"with":[63,77],"as":[64],"consequence":[66],"only":[67],"one":[68],"parameter":[69],"tune.":[71],"Step":[72],"tracking":[74],"responses":[75],"performed":[76],"pneumatic":[79],"textile-braided":[80],"McKibben":[81],"are":[83],"reported":[84],"showing":[85],"practical":[87],"efficiency":[88],"method":[91],"combine":[93],"accuracy":[94],"load":[96],"robustness":[97],"performances.":[98]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}