{"id":"https://openalex.org/W4385482789","doi":"https://doi.org/10.1109/ijcnn54540.2023.10191664","title":"Black-box Identification with Static Neural Networks of Nonlinearities of an Elastomer-based Elastic Joint Manipulator","display_name":"Black-box Identification with Static Neural Networks of Nonlinearities of an Elastomer-based Elastic Joint Manipulator","publication_year":2023,"publication_date":"2023-06-18","ids":{"openalex":"https://openalex.org/W4385482789","doi":"https://doi.org/10.1109/ijcnn54540.2023.10191664"},"language":"en","primary_location":{"id":"doi:10.1109/ijcnn54540.2023.10191664","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ijcnn54540.2023.10191664","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 International Joint Conference on Neural Networks (IJCNN)","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/A5104200033","display_name":"Antonio Weiller Corr\u00eaa do Lago","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Antonio Weiller Corr\u00eaa do Lago","raw_affiliation_strings":["Pontifícia Universidade Católica do Rio de Janeiro,Dept. of Mechanical Engineering,Rio de Janeiro,Brazil"],"affiliations":[{"raw_affiliation_string":"Pontifícia Universidade Católica do Rio de Janeiro,Dept. of Mechanical Engineering,Rio de Janeiro,Brazil","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045533714","display_name":"Isabel Giron Camerini","orcid":"https://orcid.org/0000-0001-7177-6154"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Isabel Giron Camerini","raw_affiliation_strings":["Pontifícia Universidade Católica do Rio de Janeiro,Dept. of Mechanical Engineering,Rio de Janeiro,Brazil"],"affiliations":[{"raw_affiliation_string":"Pontifícia Universidade Católica do Rio de Janeiro,Dept. of Mechanical Engineering,Rio de Janeiro,Brazil","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031025804","display_name":"Lucas Castro Sousa","orcid":"https://orcid.org/0000-0002-7687-6784"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lucas Castro Sousa","raw_affiliation_strings":["Pontifícia Universidade Católica do Rio de Janeiro,Dept. of Mechanical Engineering,Rio de Janeiro,Brazil"],"affiliations":[{"raw_affiliation_string":"Pontifícia Universidade Católica do Rio de Janeiro,Dept. of Mechanical Engineering,Rio de Janeiro,Brazil","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003868467","display_name":"Daniel Henrique Braz de Sousa","orcid":"https://orcid.org/0000-0002-5117-7645"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Daniel Henrique Braz de Sousa","raw_affiliation_strings":["Pontifícia Universidade Católica do Rio de Janeiro,Dept. of Mechanical Engineering,Rio de Janeiro,Brazil"],"affiliations":[{"raw_affiliation_string":"Pontifícia Universidade Católica do Rio de Janeiro,Dept. of Mechanical Engineering,Rio de Janeiro,Brazil","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045977445","display_name":"Felipe Rebelo Lopes","orcid":"https://orcid.org/0000-0003-2135-4855"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Felipe Rebelo Lopes","raw_affiliation_strings":["Pontifícia Universidade Católica do Rio de Janeiro,Dept. of Mechanical Engineering,Rio de Janeiro,Brazil"],"affiliations":[{"raw_affiliation_string":"Pontifícia Universidade Católica do Rio de Janeiro,Dept. of Mechanical Engineering,Rio de Janeiro,Brazil","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009333775","display_name":"Marco Ant\u00f4nio Meggiolaro","orcid":"https://orcid.org/0000-0002-6240-8189"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Marco Antonio Meggiolaro","raw_affiliation_strings":["Pontifícia Universidade Católica do Rio de Janeiro,Dept. of Mechanical Engineering,Rio de Janeiro,Brazil"],"affiliations":[{"raw_affiliation_string":"Pontifícia Universidade Católica do Rio de Janeiro,Dept. of Mechanical Engineering,Rio de Janeiro,Brazil","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032061545","display_name":"Helon Vicente Hultmann Ayala","orcid":"https://orcid.org/0000-0001-5406-3902"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Helon Vicente Hultmann Ayala","raw_affiliation_strings":["Pontifícia Universidade Católica do Rio de Janeiro,Dept. of Mechanical Engineering,Rio de Janeiro,Brazil"],"affiliations":[{"raw_affiliation_string":"Pontifícia Universidade Católica do Rio de Janeiro,Dept. of Mechanical Engineering,Rio de Janeiro,Brazil","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5104200033"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.7512,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.70878858,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"7"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.9955999851226807,"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"}},"topics":[{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.9955999851226807,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9685999751091003,"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/T10188","display_name":"Advanced machining processes and optimization","score":0.9670000076293945,"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/elastomer","display_name":"Elastomer","score":0.6482911109924316},{"id":"https://openalex.org/keywords/black-box","display_name":"Black box","score":0.57695472240448},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.570199728012085},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5256025791168213},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.5178042650222778},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.4979526996612549},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.4011204242706299},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.21911826729774475},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21721151471138},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16813114285469055},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.08983302116394043}],"concepts":[{"id":"https://openalex.org/C38052585","wikidata":"https://www.wikidata.org/wiki/Q252266","display_name":"Elastomer","level":2,"score":0.6482911109924316},{"id":"https://openalex.org/C94966114","wikidata":"https://www.wikidata.org/wiki/Q29256","display_name":"Black box","level":2,"score":0.57695472240448},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.570199728012085},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5256025791168213},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.5178042650222778},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.4979526996612549},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.4011204242706299},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.21911826729774475},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21721151471138},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16813114285469055},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.08983302116394043},{"id":"https://openalex.org/C59822182","wikidata":"https://www.wikidata.org/wiki/Q441","display_name":"Botany","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ijcnn54540.2023.10191664","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ijcnn54540.2023.10191664","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 International Joint Conference on Neural Networks (IJCNN)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8799999952316284,"id":"https://metadata.un.org/sdg/14","display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W152243833","https://openalex.org/W1826399803","https://openalex.org/W1964511224","https://openalex.org/W1980187605","https://openalex.org/W2012010578","https://openalex.org/W2014955033","https://openalex.org/W2037632893","https://openalex.org/W2038036427","https://openalex.org/W2040135606","https://openalex.org/W2104763799","https://openalex.org/W2111253117","https://openalex.org/W2158208985","https://openalex.org/W2470482648","https://openalex.org/W2791416295","https://openalex.org/W2950686278","https://openalex.org/W2962844669","https://openalex.org/W2967427547","https://openalex.org/W2996996105","https://openalex.org/W3003391783","https://openalex.org/W3008806548","https://openalex.org/W3022136544","https://openalex.org/W3025681674","https://openalex.org/W3028890177","https://openalex.org/W3032813070","https://openalex.org/W3033652527","https://openalex.org/W3082095798","https://openalex.org/W4205833754","https://openalex.org/W4213308398","https://openalex.org/W4238520330","https://openalex.org/W4244912679","https://openalex.org/W4249314718","https://openalex.org/W4254218124","https://openalex.org/W4284682830","https://openalex.org/W4286750047","https://openalex.org/W4289277565","https://openalex.org/W4307812290","https://openalex.org/W6629282439"],"related_works":["https://openalex.org/W2329874998","https://openalex.org/W3022655634","https://openalex.org/W1945993197","https://openalex.org/W1750498716","https://openalex.org/W3023081818","https://openalex.org/W3021404521","https://openalex.org/W4289890427","https://openalex.org/W1783508062","https://openalex.org/W3206499532","https://openalex.org/W2296046504"],"abstract_inverted_index":{"Through":[0],"the":[1,29,33,44,68,74,79,84,100,114,130,149,158,164],"developments":[2],"of":[3],"human":[4],"interactive":[5],"robots,":[6],"Series":[7],"Elastic":[8],"Actuators":[9],"(SEA)":[10],"have":[11],"played":[12],"an":[13,91,104,119,125,142],"important":[14,126],"role":[15],"in":[16,133],"relation":[17],"to":[18,28,37,40,128,148],"safety.":[19],"However,":[20],"using":[21,67,90,157],"a":[22,53,55,58],"compliant":[23],"element":[24],"adds":[25],"new":[26],"nonlinearities":[27,131],"system.":[30],"Considering":[31],"this,":[32],"work":[34],"presented":[35],"aims":[36],"develop":[38],"models":[39,50],"describe":[41],"and":[42,57,78,103,111,161],"characterize":[43,129],"elastomer-based":[45],"elastic":[46],"joint":[47,135],"(eSEA).":[48],"Three":[49],"are":[51,109],"proposed:":[52],"linear,":[54],"nonlinear,":[56],"combined":[59],"model.":[60,151],"The":[61,96,106,122,137,152],"parametric":[62],"linear":[63,101,150,159],"model":[64,72,81,89,98,102,139,154,160],"is":[65,83,155],"implemented":[66],"AutoRegressive":[69],"Moving":[70],"Average":[71],"with":[73,113],"eXogenous":[75,87],"(ARMAX)":[76],"model,":[77],"nonlinear":[80,138],"used":[82],"Nonlinear":[85],"Autoregressive":[86],"(NARX)":[88],"Artificial":[92],"Neural":[93],"Network":[94],"(ANN).":[95],"last":[97],"combines":[99],"ANN.":[105],"models\u2019":[107],"predictions":[108,146],"analyzed":[110],"compared":[112,147],"experimental":[115],"data":[116],"obtained":[117,156],"from":[118],"original":[120],"assembly.":[121],"ANNs":[123],"show":[124],"ability":[127],"involved":[132],"flexible":[134],"dynamics.":[136],"composed":[140],"by":[141,169],"ANN":[143],"makes":[144],"adequate":[145],"best":[153],"ANN,":[162],"decreasing":[163],"Mean":[165],"Absolute":[166],"Error":[167],"(MAE)":[168],"93%.":[170]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3}],"updated_date":"2025-11-25T21:42:39.735039","created_date":"2025-10-10T00:00:00"}