{"id":"https://openalex.org/W2054888278","doi":"https://doi.org/10.1109/icmech.2015.7084054","title":"Impact of hysteresis lost motion on the sensorless torsion control of elastic robotic joints","display_name":"Impact of hysteresis lost motion on the sensorless torsion control of elastic robotic joints","publication_year":2015,"publication_date":"2015-03-01","ids":{"openalex":"https://openalex.org/W2054888278","doi":"https://doi.org/10.1109/icmech.2015.7084054","mag":"2054888278"},"language":"en","primary_location":{"id":"doi:10.1109/icmech.2015.7084054","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icmech.2015.7084054","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 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/A5017828081","display_name":"Michael Ruderman","orcid":"https://orcid.org/0000-0002-7021-8713"},"institutions":[{"id":"https://openalex.org/I197274945","display_name":"Nagoya Institute of Technology","ror":"https://ror.org/055yf1005","country_code":"JP","type":"education","lineage":["https://openalex.org/I197274945"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Michael Ruderman","raw_affiliation_strings":["Department of Computer Science and Engineering, Showa, Nagoya, Japan","Dept. of Computer Science and Engineering, Nagoya Institute of Technology, Gokiso, Showa, Nagoya 466-8555 Japan"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, Showa, Nagoya, Japan","institution_ids":[]},{"raw_affiliation_string":"Dept. of Computer Science and Engineering, Nagoya Institute of Technology, Gokiso, Showa, Nagoya 466-8555 Japan","institution_ids":["https://openalex.org/I197274945"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009739255","display_name":"Makoto Iwasaki","orcid":"https://orcid.org/0000-0002-9022-5304"},"institutions":[{"id":"https://openalex.org/I197274945","display_name":"Nagoya Institute of Technology","ror":"https://ror.org/055yf1005","country_code":"JP","type":"education","lineage":["https://openalex.org/I197274945"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Makoto Iwasaki","raw_affiliation_strings":["Department of Computer Science and Engineering, Showa, Nagoya, Japan","Dept. of Computer Science and Engineering, Nagoya Institute of Technology, Gokiso, Showa, Nagoya 466-8555 Japan"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, Showa, Nagoya, Japan","institution_ids":[]},{"raw_affiliation_string":"Dept. of Computer Science and Engineering, Nagoya Institute of Technology, Gokiso, Showa, Nagoya 466-8555 Japan","institution_ids":["https://openalex.org/I197274945"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5017828081"],"corresponding_institution_ids":["https://openalex.org/I197274945"],"apc_list":null,"apc_paid":null,"fwci":1.3464,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.83115459,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"654","last_page":"659"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9991999864578247,"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"}},"topics":[{"id":"https://openalex.org/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9991999864578247,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9965000152587891,"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/T10865","display_name":"Shape Memory Alloy Transformations","score":0.9907000064849854,"subfield":{"id":"https://openalex.org/subfields/2505","display_name":"Materials Chemistry"},"field":{"id":"https://openalex.org/fields/25","display_name":"Materials Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/torsion","display_name":"Torsion (gastropod)","score":0.8678438663482666},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6797002553939819},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6367897391319275},{"id":"https://openalex.org/keywords/testbed","display_name":"Testbed","score":0.6251590251922607},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5901445150375366},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5762362480163574},{"id":"https://openalex.org/keywords/hysteresis","display_name":"Hysteresis","score":0.5008223056793213},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4813471734523773},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4150831401348114},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.35862237215042114},{"id":"https://openalex.org/keywords/mechanics","display_name":"Mechanics","score":0.3336775004863739},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.28868305683135986},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24429082870483398},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.19356343150138855},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14841997623443604},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.06897538900375366}],"concepts":[{"id":"https://openalex.org/C77461463","wikidata":"https://www.wikidata.org/wiki/Q7827201","display_name":"Torsion (gastropod)","level":2,"score":0.8678438663482666},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6797002553939819},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6367897391319275},{"id":"https://openalex.org/C31395832","wikidata":"https://www.wikidata.org/wiki/Q1318674","display_name":"Testbed","level":2,"score":0.6251590251922607},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5901445150375366},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5762362480163574},{"id":"https://openalex.org/C123299182","wikidata":"https://www.wikidata.org/wiki/Q190837","display_name":"Hysteresis","level":2,"score":0.5008223056793213},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4813471734523773},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4150831401348114},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.35862237215042114},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.3336775004863739},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.28868305683135986},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24429082870483398},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.19356343150138855},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14841997623443604},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.06897538900375366},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"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/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icmech.2015.7084054","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icmech.2015.7084054","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Mechatronics (ICM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.47999998927116394,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1495383718","https://openalex.org/W1509235676","https://openalex.org/W1843163787","https://openalex.org/W1971493524","https://openalex.org/W1973811020","https://openalex.org/W1995090200","https://openalex.org/W2024219400","https://openalex.org/W2049412049","https://openalex.org/W2068027769","https://openalex.org/W2104039388","https://openalex.org/W2105984753","https://openalex.org/W2116336719","https://openalex.org/W2140700002","https://openalex.org/W2150024155","https://openalex.org/W2156378981","https://openalex.org/W2167186576","https://openalex.org/W2180764534","https://openalex.org/W2294898062","https://openalex.org/W2520344721","https://openalex.org/W2552820683","https://openalex.org/W2985093159","https://openalex.org/W4233227660","https://openalex.org/W6630702416","https://openalex.org/W6662968898","https://openalex.org/W6727049213"],"related_works":["https://openalex.org/W2883256816","https://openalex.org/W2171408034","https://openalex.org/W3003320923","https://openalex.org/W2106140982","https://openalex.org/W2152313554","https://openalex.org/W2064303750","https://openalex.org/W3048672182","https://openalex.org/W1509300825","https://openalex.org/W3092582874","https://openalex.org/W2137991891"],"abstract_inverted_index":{"The":[0,109],"sensorless":[1,49],"torsion":[2,50],"control":[3],"of":[4,41,48,71],"elastic":[5],"robotic":[6],"joints,":[7],"which":[8,99],"has":[9],"been":[10],"developed":[11],"in":[12],"the":[13,21,39,46,55,61,68,94],"previous":[14],"works,":[15],"allows":[16],"one":[17],"to":[18,93],"compensate":[19],"for":[20,98,103],"joint":[22,117],"load":[23],"positioning":[24],"errors":[25],"without":[26,74],"applying":[27],"auxiliary":[28],"joint-output":[29],"sensing.":[30],"In":[31],"this":[32],"paper":[33],"we":[34,96],"investigate":[35],"and":[36,86,90],"evaluate":[37],"experimentally":[38],"impact":[40],"hysteresis":[42,104],"lost":[43,105],"motion":[44,106],"on":[45,114],"performance":[47],"control.":[51],"For":[52],"that":[53,91],"purpose,":[54],"hysteretic":[56],"torsion-torque":[57],"relationship,":[58],"detected":[59],"during":[60],"quasi-static":[62],"measurements,":[63],"is":[64,112],"simplifying":[65],"approximated":[66],"by":[67],"static":[69],"map":[70],"nonlinear":[72],"stiffness":[73],"losses.":[75],"Taken":[76],"into":[77],"consideration":[78],"two":[79],"boundary":[80],"operation":[81],"states,":[82],"i.e.":[83],"with":[84,119],"maximal":[85],"minimal":[87],"steady-state":[88],"loads,":[89],"due":[92],"gravity,":[95],"show":[97],"cases":[100],"a":[101,115],"non-accounting":[102],"becomes":[107],"significant.":[108],"experimental":[110],"evaluation":[111],"accomplished":[113],"stand-alone":[116],"testbed":[118],"gear":[120],"elasticities.":[121]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
