{"id":"https://openalex.org/W2132203209","doi":"https://doi.org/10.1109/icra.2012.6224776","title":"Application of Unscented Kalman Filter to a cable driven surgical robot: A simulation study","display_name":"Application of Unscented Kalman Filter to a cable driven surgical robot: A simulation study","publication_year":2012,"publication_date":"2012-05-01","ids":{"openalex":"https://openalex.org/W2132203209","doi":"https://doi.org/10.1109/icra.2012.6224776","mag":"2132203209"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2012.6224776","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6224776","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","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/A5083943067","display_name":"Srikrishnan Ramadurai","orcid":null},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]},{"id":"https://openalex.org/I58610484","display_name":"Seattle University","ror":"https://ror.org/02jqc0m91","country_code":"US","type":"education","lineage":["https://openalex.org/I58610484"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Srikrishnan Ramadurai","raw_affiliation_strings":["Department of Mechanical Engineering, University of Washington, Seattle, WA, USA","Department of Electrical Engineering, University of Washington, Seattle, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I201448701"]},{"raw_affiliation_string":"Department of Electrical Engineering, University of Washington, Seattle, USA","institution_ids":["https://openalex.org/I201448701","https://openalex.org/I58610484"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016214631","display_name":"Sina Nia Kosari","orcid":null},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]},{"id":"https://openalex.org/I58610484","display_name":"Seattle University","ror":"https://ror.org/02jqc0m91","country_code":"US","type":"education","lineage":["https://openalex.org/I58610484"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sina Nia Kosari","raw_affiliation_strings":["Department of Electrical Engineering, University of Washington, Seattle, WA, USA","Department of Electrical Engineering, University of Washington, Seattle, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, University of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I201448701"]},{"raw_affiliation_string":"Department of Electrical Engineering, University of Washington, Seattle, USA","institution_ids":["https://openalex.org/I201448701","https://openalex.org/I58610484"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033060799","display_name":"H. Hawkeye King","orcid":"https://orcid.org/0000-0001-5451-0389"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]},{"id":"https://openalex.org/I58610484","display_name":"Seattle University","ror":"https://ror.org/02jqc0m91","country_code":"US","type":"education","lineage":["https://openalex.org/I58610484"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"H. Hawkeye King","raw_affiliation_strings":["Department of Electrical Engineering, University of Washington, Seattle, WA, USA","Department of Electrical Engineering, University of Washington, Seattle, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, University of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I201448701"]},{"raw_affiliation_string":"Department of Electrical Engineering, University of Washington, Seattle, USA","institution_ids":["https://openalex.org/I201448701","https://openalex.org/I58610484"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079984254","display_name":"H.J. Chizeck","orcid":"https://orcid.org/0000-0003-1612-7420"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]},{"id":"https://openalex.org/I58610484","display_name":"Seattle University","ror":"https://ror.org/02jqc0m91","country_code":"US","type":"education","lineage":["https://openalex.org/I58610484"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Howard Jay Chizeck","raw_affiliation_strings":["Department of Electrical Engineering, University of Washington, Seattle, WA, USA","Department of Electrical Engineering, University of Washington, Seattle, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, University of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I201448701"]},{"raw_affiliation_string":"Department of Electrical Engineering, University of Washington, Seattle, USA","institution_ids":["https://openalex.org/I201448701","https://openalex.org/I58610484"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074967911","display_name":"Blake Hannaford","orcid":"https://orcid.org/0000-0001-7370-4920"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]},{"id":"https://openalex.org/I58610484","display_name":"Seattle University","ror":"https://ror.org/02jqc0m91","country_code":"US","type":"education","lineage":["https://openalex.org/I58610484"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Blake Hannaford","raw_affiliation_strings":["Department of Electrical Engineering, University of Washington, Seattle, WA, USA","Department of Electrical Engineering, University of Washington, Seattle, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, University of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I201448701"]},{"raw_affiliation_string":"Department of Electrical Engineering, University of Washington, Seattle, USA","institution_ids":["https://openalex.org/I201448701","https://openalex.org/I58610484"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.2114,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.89282601,"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":"1495","last_page":"1500"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9688000082969666,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9688000082969666,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13248","display_name":"Healthcare Technology and Patient Monitoring","score":0.9427000284194946,"subfield":{"id":"https://openalex.org/subfields/2746","display_name":"Surgery"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.942300021648407,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.7888500094413757},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7476646900177002},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5557886362075806},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5484495759010315},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5483680963516235},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4774256646633148},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.44925224781036377},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.4324706196784973},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.42634981870651245},{"id":"https://openalex.org/keywords/state-variable","display_name":"State variable","score":0.42622295022010803},{"id":"https://openalex.org/keywords/state-space-representation","display_name":"State-space representation","score":0.41810351610183716},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4159718453884125},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.13626006245613098},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11907958984375},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.07568803429603577}],"concepts":[{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.7888500094413757},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7476646900177002},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5557886362075806},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5484495759010315},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5483680963516235},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4774256646633148},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.44925224781036377},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.4324706196784973},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.42634981870651245},{"id":"https://openalex.org/C129537906","wikidata":"https://www.wikidata.org/wiki/Q7603913","display_name":"State variable","level":2,"score":0.42622295022010803},{"id":"https://openalex.org/C52918065","wikidata":"https://www.wikidata.org/wiki/Q230945","display_name":"State-space representation","level":2,"score":0.41810351610183716},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4159718453884125},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.13626006245613098},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11907958984375},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.07568803429603577},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2012.6224776","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6224776","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.8199999928474426}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W75550170","https://openalex.org/W203276351","https://openalex.org/W1519422254","https://openalex.org/W1526823752","https://openalex.org/W1540723801","https://openalex.org/W1581808154","https://openalex.org/W1966552874","https://openalex.org/W1969140852","https://openalex.org/W2004609114","https://openalex.org/W2020934227","https://openalex.org/W2064076655","https://openalex.org/W2126423185","https://openalex.org/W2144401864","https://openalex.org/W2153136299","https://openalex.org/W2153923500","https://openalex.org/W2189050031","https://openalex.org/W2288146251","https://openalex.org/W4244063180","https://openalex.org/W6655473528","https://openalex.org/W6687344527"],"related_works":["https://openalex.org/W2103062922","https://openalex.org/W2162299404","https://openalex.org/W2392478223","https://openalex.org/W2140011472","https://openalex.org/W2131639914","https://openalex.org/W3013517953","https://openalex.org/W4252024964","https://openalex.org/W4253883008","https://openalex.org/W2364002640","https://openalex.org/W3167194719"],"abstract_inverted_index":{"Cable":[0],"driven":[1,96],"power":[2,21],"transmissions":[3],"are":[4,106,119],"used":[5,48],"in":[6,147],"applications":[7],"such":[8],"as":[9],"haptic":[10],"devices,":[11],"surgical":[12,86],"robots":[13],"etc.":[14],"The":[15,74],"use":[16],"of":[17,40,82],"flexible":[18],"cable":[19,95,151],"based":[20],"transmission":[22],"often":[23],"causes":[24],"relative":[25],"motion":[26],"between":[27],"the":[28,38,41,60,90,104,109,114,128,132,141,148],"motor":[29],"actuator":[30],"and":[31],"mechanism":[32],"joint":[33],"during":[34],"operation":[35],"due":[36],"to":[37,49,70,79,88,130],"elasticity":[39],"cable.":[42],"State-space":[43],"control":[44],"methods":[45],"can":[46],"be":[47],"improve":[50],"performance,":[51],"but":[52],"may":[53],"require":[54],"state":[55,72,91,117],"estimates.":[56,73],"For":[57],"nonlinear":[58,99],"systems,":[59],"Unscented":[61],"Kalman":[62],"Filter":[63],"(UKF)":[64],"provides":[65],"a":[66,80,83,94],"computationally":[67],"efficient":[68],"way":[69],"obtain":[71],"UKF":[75,105,133,142],"is":[76],"applied":[77],"here":[78],"simulation":[81,129],"minimially":[84],"invasive":[85],"robot,":[87],"study":[89],"estimation":[92],"for":[93],"system":[97,149],"with":[98,108,127,144],"dynamics.":[100],"State":[101],"estimates":[102,118],"from":[103,113],"compared":[107],"known":[110],"states":[111],"available":[112],"simulation.":[115],"These":[116],"also":[120],"utilized":[121],"by":[122],"two":[123],"different":[124],"controllers":[125],"interacting":[126],"test":[131],"performance":[134,143],"under":[135],"closed":[136],"loop":[137],"control.":[138],"We":[139],"tested":[140],"error":[145],"perturbations":[146],"model's":[150],"stiffness":[152],"parameter.":[153]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
