{"id":"https://openalex.org/W2128831103","doi":"https://doi.org/10.1109/iros.2011.6094542","title":"Impedance control of a non-linearly coupled tendon driven thumb","display_name":"Impedance control of a non-linearly coupled tendon driven thumb","publication_year":2011,"publication_date":"2011-09-01","ids":{"openalex":"https://openalex.org/W2128831103","doi":"https://doi.org/10.1109/iros.2011.6094542","mag":"2128831103"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2011.6094542","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6094542","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5008690489","display_name":"Maxime Chalon","orcid":null},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"M. Chalon","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German AeroSpace Center (DLR), Wessling, Germany","Institute of Robotics and Mechatronics, German Aerospace Center (DLR) , Wessling , Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German AeroSpace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR) , Wessling , Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005657289","display_name":"Werner Friedl","orcid":"https://orcid.org/0000-0003-3002-7274"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"W. Friedl","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German AeroSpace Center (DLR), Wessling, Germany","Institute of Robotics and Mechatronics, German Aerospace Center (DLR) , Wessling , Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German AeroSpace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR) , Wessling , Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051434667","display_name":"Jost Reinecke","orcid":null},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"J. Reinecke","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German AeroSpace Center (DLR), Wessling, Germany","Institute of Robotics and Mechatronics, German Aerospace Center (DLR) , Wessling , Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German AeroSpace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR) , Wessling , Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091630447","display_name":"Thomas Wimboeck","orcid":null},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"T. Wimboeck","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German AeroSpace Center (DLR), Wessling, Germany","Institute of Robotics and Mechatronics, German Aerospace Center (DLR) , Wessling , Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German AeroSpace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR) , Wessling , Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080814983","display_name":"Alin Albu\u2010Sch\u00e4ffer","orcid":"https://orcid.org/0000-0001-5343-9074"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alin Albu-Schaeffer","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German AeroSpace Center (DLR), Wessling, Germany","Institute of Robotics and Mechatronics, German Aerospace Center (DLR) , Wessling , Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German AeroSpace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR) , Wessling , Germany","institution_ids":["https://openalex.org/I2898391981"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I2898391981"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"4215","last_page":"4221"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9988999962806702,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9988999962806702,"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":0.9980000257492065,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9977999925613403,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8041112422943115},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.6833446025848389},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6559292078018188},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.55455482006073},{"id":"https://openalex.org/keywords/thumb","display_name":"Thumb","score":0.5529199838638306},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.5280666351318359},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5231636762619019},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5045827627182007},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4694395065307617},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.4544348120689392},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.4498351216316223},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4115406274795532},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.37969863414764404},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.18770495057106018},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.18549969792366028},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.14072132110595703},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08026015758514404}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8041112422943115},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.6833446025848389},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6559292078018188},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.55455482006073},{"id":"https://openalex.org/C2776881184","wikidata":"https://www.wikidata.org/wiki/Q83360","display_name":"Thumb","level":2,"score":0.5529199838638306},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.5280666351318359},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5231636762619019},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5045827627182007},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4694395065307617},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.4544348120689392},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.4498351216316223},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4115406274795532},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.37969863414764404},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.18770495057106018},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.18549969792366028},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.14072132110595703},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08026015758514404},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"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/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2011.6094542","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6094542","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W870055","https://openalex.org/W145979361","https://openalex.org/W240272400","https://openalex.org/W1564897360","https://openalex.org/W1743837293","https://openalex.org/W1977548570","https://openalex.org/W1984995420","https://openalex.org/W1996630649","https://openalex.org/W2008796702","https://openalex.org/W2025936988","https://openalex.org/W2029610581","https://openalex.org/W2037178089","https://openalex.org/W2057879210","https://openalex.org/W2072288830","https://openalex.org/W2096178249","https://openalex.org/W2111025324","https://openalex.org/W2111394010","https://openalex.org/W2113873479","https://openalex.org/W2118672784","https://openalex.org/W2120529242","https://openalex.org/W2128418499","https://openalex.org/W2132334683","https://openalex.org/W2139086916","https://openalex.org/W2150024155","https://openalex.org/W2150066987","https://openalex.org/W2157683422","https://openalex.org/W2331696589","https://openalex.org/W2494118737","https://openalex.org/W3217246742","https://openalex.org/W6600037581","https://openalex.org/W6605942465","https://openalex.org/W6652830350","https://openalex.org/W6676722441"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W1548357495","https://openalex.org/W2314048082","https://openalex.org/W1968487248","https://openalex.org/W2097006611","https://openalex.org/W4295916778","https://openalex.org/W2112995122","https://openalex.org/W2165087119","https://openalex.org/W1975719792"],"abstract_inverted_index":{"A":[0,115],"large":[1],"workspace":[2],"and":[3,32,57,110,132,155,195],"proper":[4],"force":[5,129],"capabilities":[6],"of":[7,44,87,141,144,190,201],"a":[8,15,88,188],"robotic":[9],"thumb":[10,25,91],"can":[11,39,172],"be":[12,40,65,173],"obtained":[13],"using":[14,163],"tensegrity":[16],"structure":[17,73,117],"for":[18,120,125],"the":[19,23,36,45,49,60,69,71,78,84,101,108,112,121,126,133,142,164,168,177,199],"actuation,":[20],"similar":[21],"to":[22,76,99,106,175],"human":[24],"base":[26],"muscles.":[27],"Using":[28],"nonlinear":[29,51,61,72],"stiffness":[30,38,113],"elements":[31],"an":[33,149],"antagonistic":[34],"architecture,":[35],"joint":[37,166],"adjusted":[41,174],"by":[42],"variation":[43],"tendon":[46,62,89,128],"pre-tension.":[47],"However,":[48],"highly":[50],"actuation":[52],"creates":[53],"new":[54],"control":[55,130,136],"challenges":[56],"in":[58,104,157],"particular":[59],"kinematics":[63],"must":[64],"accounted":[66],"for.":[67],"Despite":[68],"challenges,":[70],"is":[74,97,118,153,160,185],"required":[75],"achieve":[77],"desired":[79],"torques.":[80],"In":[81],"this":[82],"paper,":[83],"dynamic":[85],"equations":[86,124],"driven":[90],"are":[92,138],"established.":[93],"An":[94],"efficient":[95],"formulation":[96],"proposed":[98,154],"generate":[100],"pretension":[102],"forces":[103],"order":[105],"preserve":[107],"torques":[109],"approximate":[111],"matrix.":[114],"cascaded":[116],"used":[119],"controller.":[122,203],"The":[123,181],"inner":[127],"loop":[131,137],"outer":[134],"impedance":[135,170],"presented.":[139],"Because":[140],"absence":[143],"link":[145],"side":[146],"position":[147],"sensors,":[148],"iterative":[150],"estimation":[151],"algorithm":[152,183],"implemented":[156],"real-time.":[158],"It":[159],"shown":[161],"that,":[162],"mechanical":[165],"flexibility,":[167],"controller":[169],"gain":[171],"improve":[176],"steady-state":[178],"effective":[179],"impedance.":[180],"search":[182],"robustness":[184],"evaluated":[186],"through":[187],"set":[189],"simulations.":[191],"Finally,":[192],"experimental":[193],"results":[194],"equivalent":[196],"simulations":[197],"demonstrate":[198],"effectiveness":[200],"our":[202]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":2},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}