{"id":"https://openalex.org/W4394591938","doi":"https://doi.org/10.1109/icra57147.2024.10610994","title":"Self-Sensing Feedback Control of an Electrohydraulic Robotic Shoulder","display_name":"Self-Sensing Feedback Control of an Electrohydraulic Robotic Shoulder","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4394591938","doi":"https://doi.org/10.1109/icra57147.2024.10610994"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610994","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610994","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 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/2404.04079","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5095045891","display_name":"Clemens C. Christoph","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Clemens C. Christoph","raw_affiliation_strings":["ETH Zurich,Switzerland"],"affiliations":[{"raw_affiliation_string":"ETH Zurich,Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039285763","display_name":"Amirhossein Kazemipour","orcid":"https://orcid.org/0000-0002-3193-2375"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Amirhossein Kazemipour","raw_affiliation_strings":["ETH Zurich,Switzerland"],"affiliations":[{"raw_affiliation_string":"ETH Zurich,Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111169447","display_name":"Michel R. Vogt","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Michel R. Vogt","raw_affiliation_strings":["ETH Zurich,Switzerland"],"affiliations":[{"raw_affiliation_string":"ETH Zurich,Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100433505","display_name":"Yu Zhang","orcid":"https://orcid.org/0000-0002-1873-2555"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Yu Zhang","raw_affiliation_strings":["ETH Zurich,Switzerland"],"affiliations":[{"raw_affiliation_string":"ETH Zurich,Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050915314","display_name":"Robert K. Katzschmann","orcid":"https://orcid.org/0000-0001-7143-7259"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Robert K. Katzschmann","raw_affiliation_strings":["ETH Zurich,Switzerland"],"affiliations":[{"raw_affiliation_string":"ETH Zurich,Switzerland","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5095045891"],"corresponding_institution_ids":["https://openalex.org/I35440088"],"apc_list":null,"apc_paid":null,"fwci":0.4332,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.5468228,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"4679","last_page":"4685"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9914000034332275,"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"}},"topics":[{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9914000034332275,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9602000117301941,"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/T13644","display_name":"Control Systems in Engineering","score":0.9509999752044678,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5221405625343323},{"id":"https://openalex.org/keywords/feedback-control","display_name":"Feedback control","score":0.5049565434455872},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.47267991304397583},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4707625210285187},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.46830618381500244},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3222307860851288},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2723633050918579}],"concepts":[{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5221405625343323},{"id":"https://openalex.org/C3018651601","wikidata":"https://www.wikidata.org/wiki/Q183635","display_name":"Feedback control","level":2,"score":0.5049565434455872},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.47267991304397583},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4707625210285187},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.46830618381500244},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3222307860851288},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2723633050918579}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra57147.2024.10610994","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610994","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2404.04079","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2404.04079","pdf_url":"https://arxiv.org/pdf/2404.04079","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2404.04079","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2404.04079","pdf_url":"https://arxiv.org/pdf/2404.04079","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.6100000143051147}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4394591938.pdf","grobid_xml":"https://content.openalex.org/works/W4394591938.grobid-xml"},"referenced_works_count":21,"referenced_works":["https://openalex.org/W2010309612","https://openalex.org/W2043131049","https://openalex.org/W2045294115","https://openalex.org/W2049564445","https://openalex.org/W2123523114","https://openalex.org/W2767796958","https://openalex.org/W2781516556","https://openalex.org/W2799857674","https://openalex.org/W2895862747","https://openalex.org/W2909573358","https://openalex.org/W2954385853","https://openalex.org/W2959582211","https://openalex.org/W3012297501","https://openalex.org/W3042933141","https://openalex.org/W3091764022","https://openalex.org/W3104511684","https://openalex.org/W3157298694","https://openalex.org/W4249599868","https://openalex.org/W4295036252","https://openalex.org/W4386004673","https://openalex.org/W4386329156"],"related_works":["https://openalex.org/W1982160337","https://openalex.org/W1971380437","https://openalex.org/W1983548084","https://openalex.org/W2141691317","https://openalex.org/W2110846987","https://openalex.org/W2160609742","https://openalex.org/W2979526210","https://openalex.org/W1997414638","https://openalex.org/W2031091109","https://openalex.org/W2052682608"],"abstract_inverted_index":{"The":[0,146,162],"human":[1],"shoulder,":[2],"with":[3,18,74],"its":[4],"glenohumeral":[5],"joint,":[6],"tendons,":[7],"ligaments,":[8],"and":[9,20,30,57],"muscles,":[10],"allows":[11,105],"for":[12,106,120,170],"the":[13,28,61,92,97,113,118,126],"execution":[14],"of":[15,40,77,99,110,159],"complex":[16,171],"tasks":[17],"precision":[19],"efficiency.":[21],"However,":[22],"current":[23],"robotic":[24,72,151],"shoulder":[25,73],"designs":[26,42],"lack":[27],"compliance":[29],"compactness":[31],"inherent":[32,156],"in":[33,112],"their":[34,44],"biological":[35],"counterparts.":[36],"A":[37],"major":[38],"limitation":[39],"these":[41],"is":[43],"reliance":[45],"on":[46,137,154],"external":[47],"sensors":[48],"like":[49],"rotary":[50],"encoders,":[51],"which":[52],"restrict":[53],"mechanical":[54],"joint":[55,173],"design":[56,90],"introduce":[58],"bulk":[59],"to":[60,132],"system.":[62,145],"To":[63],"address":[64],"this":[65],"constraint,":[66],"we":[67],"present":[68],"a":[69,133,142,168],"bio-inspired":[70],"antagonistic":[71],"two":[75],"degrees":[76],"freedom":[78],"powered":[79],"by":[80,129,141],"self-sensing":[81,101,157],"hydraulically":[82],"amplified":[83],"self-healing":[84],"electrostatic":[85,94],"actuators.":[86,161],"Our":[87],"artificial":[88],"muscle":[89],"decouples":[91],"high-voltage":[93],"actuation":[95],"from":[96],"pair":[98],"low-voltage":[100],"electrodes.":[102],"This":[103],"approach":[104],"proprioceptive":[107],"feedback":[108,134],"control":[109,135],"trajectories":[111],"task":[114],"space":[115],"while":[116],"eliminating":[117],"necessity":[119],"any":[121],"additional":[122],"sensors.":[123],"We":[124],"assess":[125],"platform\u2019s":[127],"efficacy":[128],"comparing":[130],"it":[131],"based":[136,153],"position":[138],"data":[139],"provided":[140],"motion":[143],"capture":[144],"study":[147],"demonstrates":[148],"closed-loop":[149],"controllable":[150],"manipulators":[152],"an":[155],"capability":[158],"electrohydraulic":[160],"proposed":[163],"architecture":[164],"can":[165],"serve":[166],"as":[167],"basis":[169],"musculoskeletal":[172],"arrangements.":[174]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}