{"id":"https://openalex.org/W2967041249","doi":"https://doi.org/10.1109/icra.2019.8793978","title":"A Lightweight Force-Controllable Wearable Arm Based on Magnetorheological-Hydrostatic Actuators","display_name":"A Lightweight Force-Controllable Wearable Arm Based on Magnetorheological-Hydrostatic Actuators","publication_year":2019,"publication_date":"2019-05-01","ids":{"openalex":"https://openalex.org/W2967041249","doi":"https://doi.org/10.1109/icra.2019.8793978","mag":"2967041249"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2019.8793978","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8793978","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2206.13361","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5002542147","display_name":"Catherine Veronneau","orcid":"https://orcid.org/0000-0001-6793-7533"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Catherine Veronneau","raw_affiliation_strings":["Faculty of Engineering, Interdisciplinary Institute for Technological Innovation (3IT), 3000 boul. de \u013e Universit\u00e9, Sherbrooke, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Engineering, Interdisciplinary Institute for Technological Innovation (3IT), 3000 boul. de \u013e Universit\u00e9, Sherbrooke, Canada","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017965000","display_name":"Jeff Denis","orcid":"https://orcid.org/0000-0001-7779-7220"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jeff Denis","raw_affiliation_strings":["Faculty of Engineering, Interdisciplinary Institute for Technological Innovation (3IT), 3000 boul. de \u013e Universit\u00e9, Sherbrooke, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Engineering, Interdisciplinary Institute for Technological Innovation (3IT), 3000 boul. de \u013e Universit\u00e9, Sherbrooke, Canada","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002117190","display_name":"Louis-Philippe Lebel","orcid":"https://orcid.org/0000-0002-3192-5159"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Louis-Philippe Lebel","raw_affiliation_strings":["Faculty of Engineering, Interdisciplinary Institute for Technological Innovation (3IT), 3000 boul. de \u013e Universit\u00e9, Sherbrooke, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Engineering, Interdisciplinary Institute for Technological Innovation (3IT), 3000 boul. de \u013e Universit\u00e9, Sherbrooke, Canada","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023170787","display_name":"Marc Denninger","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Marc Denninger","raw_affiliation_strings":["Exonetik Inc., Sherbrooke, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Exonetik Inc., Sherbrooke, Canada","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023292235","display_name":"Jean\u2010S\u00e9bastien Plante","orcid":"https://orcid.org/0000-0002-0481-8032"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jean-Sebastien Plante","raw_affiliation_strings":["Exonetik Inc., Sherbrooke, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Exonetik Inc., Sherbrooke, Canada","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102776403","display_name":"Alexandre Girard","orcid":"https://orcid.org/0000-0002-4652-0613"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Alexandre Girard","raw_affiliation_strings":["Faculty of Engineering, Interdisciplinary Institute for Technological Innovation (3IT), 3000 boul. de \u013e Universit\u00e9, Sherbrooke, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Engineering, Interdisciplinary Institute for Technological Innovation (3IT), 3000 boul. de \u013e Universit\u00e9, Sherbrooke, Canada","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.1964,"has_fulltext":false,"cited_by_count":28,"citation_normalized_percentile":{"value":0.77253609,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"4018","last_page":"4024"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9965000152587891,"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":0.9965000152587891,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9948999881744385,"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/T10809","display_name":"Occupational Health and Safety Research","score":0.968500018119812,"subfield":{"id":"https://openalex.org/subfields/3614","display_name":"Radiological and Ultrasound Technology"},"field":{"id":"https://openalex.org/fields/36","display_name":"Health Professions"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/magnetorheological-fluid","display_name":"Magnetorheological fluid","score":0.7957775592803955},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7702877521514893},{"id":"https://openalex.org/keywords/wearable-computer","display_name":"Wearable computer","score":0.7581921815872192},{"id":"https://openalex.org/keywords/hydrostatic-equilibrium","display_name":"Hydrostatic equilibrium","score":0.5369766354560852},{"id":"https://openalex.org/keywords/pneumatic-actuator","display_name":"Pneumatic actuator","score":0.5203844308853149},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46026331186294556},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3224380612373352},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2795606851577759},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.2302652895450592},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.2091732621192932},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11268863081932068},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.07163700461387634}],"concepts":[{"id":"https://openalex.org/C108619579","wikidata":"https://www.wikidata.org/wiki/Q902419","display_name":"Magnetorheological fluid","level":3,"score":0.7957775592803955},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7702877521514893},{"id":"https://openalex.org/C150594956","wikidata":"https://www.wikidata.org/wiki/Q1334829","display_name":"Wearable computer","level":2,"score":0.7581921815872192},{"id":"https://openalex.org/C134853933","wikidata":"https://www.wikidata.org/wiki/Q208641","display_name":"Hydrostatic equilibrium","level":2,"score":0.5369766354560852},{"id":"https://openalex.org/C170401851","wikidata":"https://www.wikidata.org/wiki/Q1965061","display_name":"Pneumatic actuator","level":3,"score":0.5203844308853149},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46026331186294556},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3224380612373352},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2795606851577759},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2302652895450592},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.2091732621192932},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11268863081932068},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.07163700461387634},{"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/C140096630","wikidata":"https://www.wikidata.org/wiki/Q3423628","display_name":"Damper","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2019.8793978","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8793978","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2206.13361","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2206.13361","pdf_url":"https://arxiv.org/pdf/2206.13361","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2206.13361","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2206.13361","pdf_url":"https://arxiv.org/pdf/2206.13361","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1493963057","https://openalex.org/W1968947950","https://openalex.org/W1972239908","https://openalex.org/W1978023077","https://openalex.org/W1984929297","https://openalex.org/W2012021292","https://openalex.org/W2055823008","https://openalex.org/W2056590375","https://openalex.org/W2086213654","https://openalex.org/W2100792856","https://openalex.org/W2123103437","https://openalex.org/W2139152402","https://openalex.org/W2149744701","https://openalex.org/W2522447873","https://openalex.org/W2735426142","https://openalex.org/W2794440733","https://openalex.org/W2887793589","https://openalex.org/W4231654097","https://openalex.org/W6727109706"],"related_works":["https://openalex.org/W2100362331","https://openalex.org/W2966243206","https://openalex.org/W2349923693","https://openalex.org/W2014474025","https://openalex.org/W2773810465","https://openalex.org/W1978574942","https://openalex.org/W2619747063","https://openalex.org/W1502247793","https://openalex.org/W2061360313","https://openalex.org/W2123055169"],"abstract_inverted_index":{"Supernumerary":[0],"Robotic":[1],"Limbs":[2],"(SRLs)":[3],"are":[4,112,168,184],"wearable":[5,101],"robots":[6],"augmenting":[7],"human":[8,18,204],"capabilities":[9],"by":[10,64],"acting":[11],"as":[12,41],"a":[13,52,59,83,89,135,143,150,198],"co-worker,":[14],"reaching":[15],"objects,":[16,46],"support":[17],"arms,":[19],"etc.":[20,47],"However,":[21],"existing":[22],"SRLs":[23],"lack":[24],"the":[25,34,65,75,190],"mechanical":[26],"backdrivability":[27],"and":[28,106,109,117,122,139,149,170,177,205],"bandwidth":[29,54,146],"required":[30],"for":[31,197],"tasks":[32],"where":[33],"interaction":[35,155],"forces":[36,156],"must":[37],"be":[38,187],"controlled":[39],"such":[40],"painting,":[42],"drilling,":[43],"manipulating":[44],"fragile":[45],"Being":[48],"highly":[49,90],"backdrivable":[50],"with":[51,120,160,202],"high":[53,144],"while":[55],"minimizing":[56],"weight":[57],"presents":[58],"major":[60],"technological":[61],"challenge":[62],"imposed":[63],"limited":[66],"performances":[67],"of":[68,77,127,129],"conventional":[69],"electromagnetic":[70],"actuators.":[71],"This":[72],"paper":[73],"studies":[74,132],"feasibility":[76],"using":[78],"magnetorheological":[79],"(MR)":[80],"clutches":[81],"coupled-to":[82],"low-friction":[84],"hydrostatic":[85],"transmission":[86],"to":[87,114,153,186],"provide":[88],"capable,":[91],"but":[92],"yet":[93],"lightweight,":[94],"force-controllable":[95],"SRL.":[96],"A":[97],"2.7":[98],"kg":[99],"2-DOFs":[100],"robotic":[102],"arm":[103],"is":[104,195],"designed":[105,113],"built.":[107],"Shoulder":[108],"elbow":[110],"joints":[111],"deliver":[115],"39":[116],"25":[118],"Nm,":[119],"115":[121],"180":[123],"<sup":[124],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[125],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">\u00b0</sup>":[126],"range":[128],"motion.":[130],"Experimental":[131],"conducted":[133],"on":[134,175,179],"one-DOF":[136],"test":[137],"bench":[138],"validated":[140],"analytically":[141],"demonstrate":[142],"force":[145],"(>25":[147],"Hz)":[148],"good":[151],"ability":[152],"control":[154],"even":[157],"when":[158],"interacting":[159,201],"an":[161],"external":[162],"impedance.":[163],"Furthermore,":[164],"three":[165,182],"force-control":[166],"approaches":[167],"studied":[169],"demonstrated":[171],"experimentally:":[172],"open-loop,":[173],"closed-loop":[174,178],"force,":[176],"pressure.":[180],"All":[181],"methods":[183],"shown":[185],"effective.":[188],"Overall,":[189],"proposed":[191],"MR-Hydrostatic":[192],"actuation":[193],"system":[194],"well-suited":[196],"lightweight":[199],"SRL":[200],"both":[203],"environment":[206],"that":[207],"add":[208],"unpredictable":[209],"disturbances.":[210]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}