{"id":"https://openalex.org/W4383109545","doi":"https://doi.org/10.1109/icra48891.2023.10161225","title":"Design Optimization and Data-driven Shallow Learning for Dynamic Modeling of a Smart Segmented Electroadhesive Clutch","display_name":"Design Optimization and Data-driven Shallow Learning for Dynamic Modeling of a Smart Segmented Electroadhesive Clutch","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383109545","doi":"https://doi.org/10.1109/icra48891.2023.10161225"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10161225","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icra48891.2023.10161225","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","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/A5057632155","display_name":"Navid Feizi","orcid":"https://orcid.org/0000-0002-8656-7221"},"institutions":[{"id":"https://openalex.org/I131944076","display_name":"Lawson Health Research Institute","ror":"https://ror.org/051gsh239","country_code":"CA","type":"funder","lineage":["https://openalex.org/I131944076"]},{"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":true,"raw_author_name":"Navid Feizi","raw_affiliation_strings":["Lawson Health Research Institute,Canadian Surgical Technologies and Advanced Robotics (CSTAR),London,ON,Canada,N6A 5A5","School of Biomedical Engineering, Western University, London, ON, Canada"],"affiliations":[{"raw_affiliation_string":"Lawson Health Research Institute,Canadian Surgical Technologies and Advanced Robotics (CSTAR),London,ON,Canada,N6A 5A5","institution_ids":["https://openalex.org/I131944076"]},{"raw_affiliation_string":"School of Biomedical Engineering, Western University, London, ON, Canada","institution_ids":["https://openalex.org/I125749732"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101730308","display_name":"Zahra Bahrami","orcid":null},"institutions":[{"id":"https://openalex.org/I181369854","display_name":"Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg","ror":"https://ror.org/00f7hpc57","country_code":"DE","type":"education","lineage":["https://openalex.org/I181369854"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Zahra Bahrami","raw_affiliation_strings":["Institute of Geography, University of Erlangen-Nuremberg,Erlangen,Germany,91054"],"affiliations":[{"raw_affiliation_string":"Institute of Geography, University of Erlangen-Nuremberg,Erlangen,Germany,91054","institution_ids":["https://openalex.org/I181369854"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057991229","display_name":"S. Farokh Atashzar","orcid":"https://orcid.org/0000-0001-8495-8440"},"institutions":[{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"S. Farokh Atashzar","raw_affiliation_strings":["New York University (NYU),Department of Mechanical and Aerospace Engineering the Department of Electrical and Computer Engineering and the Department of Biomedical Engineering,New York,NY,USA,10003","NYU WIRELESS and NYU CUSP"],"affiliations":[{"raw_affiliation_string":"New York University (NYU),Department of Mechanical and Aerospace Engineering the Department of Electrical and Computer Engineering and the Department of Biomedical Engineering,New York,NY,USA,10003","institution_ids":["https://openalex.org/I57206974"]},{"raw_affiliation_string":"NYU WIRELESS and NYU CUSP","institution_ids":[]}]},{"author_position":"middle","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":["Western University,Department of Electrical and Computer Engineering,London,ON,Canada,N6A 5B9"],"affiliations":[{"raw_affiliation_string":"Western University,Department of Electrical and Computer Engineering,London,ON,Canada,N6A 5B9","institution_ids":["https://openalex.org/I125749732"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032056508","display_name":"Rajni V. Patel","orcid":"https://orcid.org/0000-0003-3431-4617"},"institutions":[{"id":"https://openalex.org/I131944076","display_name":"Lawson Health Research Institute","ror":"https://ror.org/051gsh239","country_code":"CA","type":"funder","lineage":["https://openalex.org/I131944076"]},{"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":"Rajni V. Patel","raw_affiliation_strings":["Lawson Health Research Institute,Canadian Surgical Technologies and Advanced Robotics (CSTAR),London,ON,Canada,N6A 5A5","Department of Electrical and Computer Engineering, the Department of Surgery, and the Department of Clinical Neurological Sciences, School of Biomedical Engineering, Western University, London, ON, Canada"],"affiliations":[{"raw_affiliation_string":"Lawson Health Research Institute,Canadian Surgical Technologies and Advanced Robotics (CSTAR),London,ON,Canada,N6A 5A5","institution_ids":["https://openalex.org/I131944076"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, the Department of Surgery, and the Department of Clinical Neurological Sciences, School of Biomedical Engineering, Western University, London, ON, Canada","institution_ids":["https://openalex.org/I125749732"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5057632155"],"corresponding_institution_ids":["https://openalex.org/I125749732","https://openalex.org/I131944076"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.08178962,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"9903","last_page":"9909"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9993000030517578,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9993000030517578,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9973000288009644,"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":0.9934999942779541,"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/computer-science","display_name":"Computer science","score":0.6935917139053345},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6310917735099792},{"id":"https://openalex.org/keywords/clutch","display_name":"Clutch","score":0.6041209101676941},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4941771328449249},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.48096147179603577},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4675140976905823},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.4113613963127136},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.40951988101005554},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.31006383895874023},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2535899877548218},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.1297268569469452}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6935917139053345},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6310917735099792},{"id":"https://openalex.org/C30358287","wikidata":"https://www.wikidata.org/wiki/Q194302","display_name":"Clutch","level":2,"score":0.6041209101676941},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4941771328449249},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.48096147179603577},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4675140976905823},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.4113613963127136},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.40951988101005554},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31006383895874023},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2535899877548218},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.1297268569469452},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10161225","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icra48891.2023.10161225","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8399999737739563,"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":32,"referenced_works":["https://openalex.org/W2008503048","https://openalex.org/W2054326469","https://openalex.org/W2064675550","https://openalex.org/W2066878366","https://openalex.org/W2159161641","https://openalex.org/W2288921814","https://openalex.org/W2339027962","https://openalex.org/W2418295831","https://openalex.org/W2483708991","https://openalex.org/W2604635497","https://openalex.org/W2625095542","https://openalex.org/W2773239385","https://openalex.org/W2843252114","https://openalex.org/W2890967261","https://openalex.org/W2892123002","https://openalex.org/W2898186482","https://openalex.org/W2898524438","https://openalex.org/W2974210869","https://openalex.org/W2995522041","https://openalex.org/W2997361094","https://openalex.org/W3007881135","https://openalex.org/W3048379220","https://openalex.org/W3080612571","https://openalex.org/W3091380529","https://openalex.org/W3129468722","https://openalex.org/W3150395494","https://openalex.org/W3155156799","https://openalex.org/W3155552419","https://openalex.org/W3158478302","https://openalex.org/W4309676045","https://openalex.org/W4312854180","https://openalex.org/W4365801651"],"related_works":["https://openalex.org/W3108645022","https://openalex.org/W2362877944","https://openalex.org/W2604525045","https://openalex.org/W1841497340","https://openalex.org/W104615690","https://openalex.org/W4389304962","https://openalex.org/W2088888306","https://openalex.org/W2336246353","https://openalex.org/W2076295474","https://openalex.org/W3101820272"],"abstract_inverted_index":{"Electroadhesive":[0],"clutches":[1],"have":[2],"attracted":[3],"a":[4,80,89,104,125,136,141,148],"great":[5],"deal":[6],"of":[7,33,36,57,72,75,86,129,147,163],"interest":[8],"in":[9,39,45,176],"the":[10,34,53,70,95,99,116,130,158,164,169],"last":[11],"decade":[12],"as":[13],"semi-active":[14,76,166],"actuators":[15],"for":[16,115],"human-robot":[17],"interaction":[18],"due":[19],"to":[20,83],"their":[21,37],"lightweight,":[22],"low":[23,110],"power":[24,111],"consumption,":[25],"and":[26,67,108,168],"tunable":[27],"high-torque":[28],"output":[29],"capability.":[30],"However,":[31],"because":[32],"complexity":[35],"dynamics,":[38],"most":[40],"cases,":[41],"they":[42],"are":[43],"utilized":[44],"an":[46,61,120],"ON/OFF":[47],"-control":[48],"strategy.":[49],"In":[50],"this":[51,73,177],"regard,":[52],"non-autonomous":[54],"(time-dependent)":[55],"degradation":[56,85],"electroadhesive":[58],"behavior":[59,71],"is":[60,155,173],"inherent":[62],"challenge":[63],"that":[64,93],"injects":[65],"unpredictability":[66],"uncertainty":[68],"into":[69],"family":[74],"clutches.":[77],"We":[78],"propose":[79],"novel":[81,126],"approach":[82,145],"preventing":[84],"electroadhesion":[87],"using":[88,103,140],"segmented":[90],"electrode":[91],"design":[92],"modulates":[94],"electrical":[96],"field":[97],"on":[98,124],"dielectric":[100],"surface":[101],"while":[102],"direct":[105],"current":[106],"signal":[107],"securing":[109],"consumption.":[112],"This":[113],"paper,":[114],"first":[117],"time,":[118],"presents":[119],"optimization":[121],"process":[122],"based":[123],"analytic":[127],"model":[128,138,172],"proposed":[131,165],"actuator.":[132],"It":[133],"also":[134],"develops":[135],"data-driven":[137,170],"augmentation":[139],"hybrid":[142,171],"shallow":[143],"learning":[144],"composed":[146],"long":[149],"short-term":[150],"memory":[151],"(LSTM)":[152],"architecture":[153],"which":[154],"combined":[156],"with":[157],"analytical":[159],"model.":[160],"The":[161],"performance":[162],"clutch":[167],"experimentally":[174],"validated":[175],"paper.":[178]},"counts_by_year":[],"updated_date":"2025-12-24T23:09:58.560324","created_date":"2025-10-10T00:00:00"}
