{"id":"https://openalex.org/W2075205148","doi":"https://doi.org/10.1109/icra.2014.6906985","title":"Linear torque actuation using FPGA-controlled Magneto-Rheological actuators","display_name":"Linear torque actuation using FPGA-controlled Magneto-Rheological actuators","publication_year":2014,"publication_date":"2014-05-01","ids":{"openalex":"https://openalex.org/W2075205148","doi":"https://doi.org/10.1109/icra.2014.6906985","mag":"2075205148"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2014.6906985","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6906985","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5100446267","display_name":"Wenjun Li","orcid":"https://orcid.org/0000-0002-5612-8543"},"institutions":[{"id":"https://openalex.org/I125749732","display_name":"Western University","ror":"https://ror.org/02grkyz14","country_code":"CA","type":"education","lineage":["https://openalex.org/I125749732"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Wenjun Li","raw_affiliation_strings":["Electrical and Computer Engineering Department, University of Western Ontario, London, ON, Canada","Electrical and Computer Engineering Department, the University of Western Ontario, London, ON N6A 5B9 Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical and Computer Engineering Department, University of Western Ontario, London, ON, Canada","institution_ids":["https://openalex.org/I125749732"]},{"raw_affiliation_string":"Electrical and Computer Engineering Department, the University of Western Ontario, London, ON N6A 5B9 Canada","institution_ids":["https://openalex.org/I125749732"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031841551","display_name":"Peyman Yadmellat","orcid":"https://orcid.org/0000-0001-9722-3873"},"institutions":[{"id":"https://openalex.org/I125749732","display_name":"Western University","ror":"https://ror.org/02grkyz14","country_code":"CA","type":"education","lineage":["https://openalex.org/I125749732"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Peyman Yadmellat","raw_affiliation_strings":["Electrical and Computer Engineering Department, University of Western Ontario, London, ON, Canada","Electrical and Computer Engineering Department, the University of Western Ontario, London, ON N6A 5B9 Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical and Computer Engineering Department, University of Western Ontario, London, ON, Canada","institution_ids":["https://openalex.org/I125749732"]},{"raw_affiliation_string":"Electrical and Computer Engineering Department, the University of Western Ontario, London, ON N6A 5B9 Canada","institution_ids":["https://openalex.org/I125749732"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5018767588","display_name":"Mehrdad R. Kermani","orcid":"https://orcid.org/0000-0003-0513-9485"},"institutions":[{"id":"https://openalex.org/I125749732","display_name":"Western University","ror":"https://ror.org/02grkyz14","country_code":"CA","type":"education","lineage":["https://openalex.org/I125749732"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Mehrdad R. Kermani","raw_affiliation_strings":["Electrical and Computer Engineering Department, University of Western Ontario, London, ON, Canada","Electrical and Computer Engineering Department, the University of Western Ontario, London, ON N6A 5B9 Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical and Computer Engineering Department, University of Western Ontario, London, ON, Canada","institution_ids":["https://openalex.org/I125749732"]},{"raw_affiliation_string":"Electrical and Computer Engineering Department, the University of Western Ontario, London, ON N6A 5B9 Canada","institution_ids":["https://openalex.org/I125749732"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I125749732"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"1","issue":null,"first_page":"1060","last_page":"1065"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10690","display_name":"Vibration Control and Rheological Fluids","score":0.9995999932289124,"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/T10690","display_name":"Vibration Control and Rheological Fluids","score":0.9995999932289124,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9987999796867371,"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"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9959999918937683,"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/clutch","display_name":"Clutch","score":0.9661766886711121},{"id":"https://openalex.org/keywords/field-programmable-gate-array","display_name":"Field-programmable gate array","score":0.7591198682785034},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6935521960258484},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.686418890953064},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6856701970100403},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.49792027473449707},{"id":"https://openalex.org/keywords/magnetorheological-fluid","display_name":"Magnetorheological fluid","score":0.4737568497657776},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4547816812992096},{"id":"https://openalex.org/keywords/signal","display_name":"SIGNAL (programming language)","score":0.429576575756073},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.35394006967544556},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33834266662597656},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.19875672459602356},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.15785551071166992},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.15388375520706177},{"id":"https://openalex.org/keywords/computer-hardware","display_name":"Computer hardware","score":0.1380096673965454},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.06579282879829407}],"concepts":[{"id":"https://openalex.org/C30358287","wikidata":"https://www.wikidata.org/wiki/Q194302","display_name":"Clutch","level":2,"score":0.9661766886711121},{"id":"https://openalex.org/C42935608","wikidata":"https://www.wikidata.org/wiki/Q190411","display_name":"Field-programmable gate array","level":2,"score":0.7591198682785034},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6935521960258484},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.686418890953064},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6856701970100403},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.49792027473449707},{"id":"https://openalex.org/C108619579","wikidata":"https://www.wikidata.org/wiki/Q902419","display_name":"Magnetorheological fluid","level":3,"score":0.4737568497657776},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4547816812992096},{"id":"https://openalex.org/C2779843651","wikidata":"https://www.wikidata.org/wiki/Q7390335","display_name":"SIGNAL (programming language)","level":2,"score":0.429576575756073},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.35394006967544556},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33834266662597656},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.19875672459602356},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.15785551071166992},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.15388375520706177},{"id":"https://openalex.org/C9390403","wikidata":"https://www.wikidata.org/wiki/Q3966","display_name":"Computer hardware","level":1,"score":0.1380096673965454},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.06579282879829407},{"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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C140096630","wikidata":"https://www.wikidata.org/wiki/Q3423628","display_name":"Damper","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2014.6906985","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6906985","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.4699999988079071,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W178056938","https://openalex.org/W1020540256","https://openalex.org/W1586141030","https://openalex.org/W1608147753","https://openalex.org/W1806240040","https://openalex.org/W1914805536","https://openalex.org/W1965324089","https://openalex.org/W1976670750","https://openalex.org/W1990269955","https://openalex.org/W1994293630","https://openalex.org/W2027178385","https://openalex.org/W2031668377","https://openalex.org/W2049602982","https://openalex.org/W2098517395","https://openalex.org/W2100067184","https://openalex.org/W2108870121","https://openalex.org/W2111253117","https://openalex.org/W2131063775","https://openalex.org/W2131396150","https://openalex.org/W2131404784","https://openalex.org/W2140484364","https://openalex.org/W2149309174","https://openalex.org/W2159161641","https://openalex.org/W2164272051","https://openalex.org/W2309399317","https://openalex.org/W2542943064","https://openalex.org/W6626452837","https://openalex.org/W6636464324"],"related_works":["https://openalex.org/W3122352013","https://openalex.org/W2080643329","https://openalex.org/W2807525849","https://openalex.org/W4367626770","https://openalex.org/W2365403043","https://openalex.org/W2426931666","https://openalex.org/W1827110469","https://openalex.org/W2367346288","https://openalex.org/W4389304962","https://openalex.org/W2088888306"],"abstract_inverted_index":{"In":[0,38],"recent":[1],"years,":[2],"Magneto-Rheological":[3],"(MR)":[4],"clutches":[5,19,118],"have":[6,171],"been":[7],"increasingly":[8],"used":[9,61],"for":[10,87,119],"realizing":[11],"compliant":[12,143],"actuation.":[13,121],"One":[14],"difficulty":[15],"in":[16,62],"using":[17,95,130],"MR":[18,36,52,76,93,117,137,167],"is":[20,56,66,128],"the":[21,28,67,75,88,92,100,114,125,151,154,166],"existence":[22],"of":[23,34,91,99,107,116,124,141,153,165],"nonlinear":[24,89],"hysteretic":[25,163],"behaviors":[26,164],"between":[27],"input":[29],"current":[30],"and":[31],"output":[32],"torque":[33,120],"an":[35,51,96,108,131,136],"clutch.":[37,77],"this":[39,63,82],"paper,":[40],"a":[41,142],"new":[42],"closed-loop,":[43],"Field-Programable-Gate-Array":[44],"(FPGA)":[45],"based":[46,156],"control":[47,64,158],"scheme":[48,65,159],"to":[49,85,170],"linearize":[50],"clutch's":[53],"input-output":[54],"relationship":[55],"presented.":[57],"The":[58,78,104,122,146],"feedback":[59,83],"signal":[60,84],"magnetic":[68,102],"field":[69],"acquired":[70],"from":[71],"hall":[72],"sensors":[73],"within":[74],"FPGA":[79,109,155],"board":[80,110],"uses":[81],"compensate":[86],"behavior":[90],"clutch":[94,101,138],"estimated":[97],"model":[98],"field.":[103],"local":[105],"use":[106,115,152],"will":[111],"dramatically":[112],"simplify":[113],"effectiveness":[123],"proposed":[126],"technique":[127],"validated":[129],"experimental":[132],"platform":[133],"that":[134,150],"includes":[135],"as":[139],"part":[140],"actuation":[144],"mechanism.":[145],"results":[147],"clearly":[148],"demonstrate":[149],"closed-loop":[157],"can":[160],"effectively":[161],"eliminate":[162],"clutch,":[168],"allowing":[169],"linear":[172],"actuators":[173],"with":[174],"predictable":[175],"behaviors.":[176]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}