{"id":"https://openalex.org/W1972813946","doi":"https://doi.org/10.1109/iros.2013.6697061","title":"Modeling and control of a Pneumatic-Electric hybrid system","display_name":"Modeling and control of a Pneumatic-Electric hybrid system","publication_year":2013,"publication_date":"2013-11-01","ids":{"openalex":"https://openalex.org/W1972813946","doi":"https://doi.org/10.1109/iros.2013.6697061","mag":"1972813946"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2013.6697061","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6697061","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 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/A5064625832","display_name":"Tatsuya Teramae","orcid":"https://orcid.org/0000-0001-7957-5576"},"institutions":[{"id":"https://openalex.org/I4210104143","display_name":"Advanced Telecommunications Research Institute International","ror":"https://ror.org/01pe1d703","country_code":"JP","type":"facility","lineage":["https://openalex.org/I4210104143"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tatsuya Teramae","raw_affiliation_strings":["Department of Brain Robot Interface, ATR Computational Neuroscience Laboratories, Kyoto, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Brain Robot Interface, ATR Computational Neuroscience Laboratories, Kyoto, Japan","institution_ids":["https://openalex.org/I4210104143"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002819026","display_name":"Tomoyuki Noda","orcid":"https://orcid.org/0000-0002-1055-5080"},"institutions":[{"id":"https://openalex.org/I4210104143","display_name":"Advanced Telecommunications Research Institute International","ror":"https://ror.org/01pe1d703","country_code":"JP","type":"facility","lineage":["https://openalex.org/I4210104143"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tomoyuki Noda","raw_affiliation_strings":["Department of Brain Robot Interface, ATR Computational Neuroscience Laboratories, Kyoto, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Brain Robot Interface, ATR Computational Neuroscience Laboratories, Kyoto, Japan","institution_ids":["https://openalex.org/I4210104143"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073009713","display_name":"Sang-Ho Hyon","orcid":null},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]},{"id":"https://openalex.org/I4210104143","display_name":"Advanced Telecommunications Research Institute International","ror":"https://ror.org/01pe1d703","country_code":"JP","type":"facility","lineage":["https://openalex.org/I4210104143"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"SangHo Hyon","raw_affiliation_strings":["Department of Brain Robot Interface, ATR Computational Neuroscience Laboratories, Kyoto, Japan","Department of Robotics, Ritsumeikan University, Shiga, Japan"],"raw_orcid":"https://orcid.org/0000-0003-0717-3564","affiliations":[{"raw_affiliation_string":"Department of Brain Robot Interface, ATR Computational Neuroscience Laboratories, Kyoto, Japan","institution_ids":["https://openalex.org/I4210104143"]},{"raw_affiliation_string":"Department of Robotics, Ritsumeikan University, Shiga, Japan","institution_ids":["https://openalex.org/I135768898"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025458882","display_name":"Jun Morimoto","orcid":"https://orcid.org/0000-0002-4115-1919"},"institutions":[{"id":"https://openalex.org/I4210104143","display_name":"Advanced Telecommunications Research Institute International","ror":"https://ror.org/01pe1d703","country_code":"JP","type":"facility","lineage":["https://openalex.org/I4210104143"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Jun Morimoto","raw_affiliation_strings":["Department of Brain Robot Interface, ATR Computational Neuroscience Laboratories, Kyoto, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Brain Robot Interface, ATR Computational Neuroscience Laboratories, Kyoto, Japan","institution_ids":["https://openalex.org/I4210104143"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"4887","last_page":"4892"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9991000294685364,"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":0.9991000294685364,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9952999949455261,"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/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9818000197410583,"subfield":{"id":"https://openalex.org/subfields/2742","display_name":"Rehabilitation"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7502973079681396},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.7133831977844238},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7060006260871887},{"id":"https://openalex.org/keywords/pneumatic-actuator","display_name":"Pneumatic actuator","score":0.6834213137626648},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4944641590118408},{"id":"https://openalex.org/keywords/electric-motor","display_name":"Electric motor","score":0.4626409113407135},{"id":"https://openalex.org/keywords/hybrid-system","display_name":"Hybrid system","score":0.45668095350265503},{"id":"https://openalex.org/keywords/artificial-muscle","display_name":"Artificial muscle","score":0.4417969584465027},{"id":"https://openalex.org/keywords/rotary-actuator","display_name":"Rotary actuator","score":0.42404651641845703},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.37055498361587524},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33778780698776245},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15232419967651367},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09993535280227661},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.08993008732795715},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07631790637969971}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7502973079681396},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.7133831977844238},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7060006260871887},{"id":"https://openalex.org/C170401851","wikidata":"https://www.wikidata.org/wiki/Q1965061","display_name":"Pneumatic actuator","level":3,"score":0.6834213137626648},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4944641590118408},{"id":"https://openalex.org/C176871988","wikidata":"https://www.wikidata.org/wiki/Q72313","display_name":"Electric motor","level":2,"score":0.4626409113407135},{"id":"https://openalex.org/C50897621","wikidata":"https://www.wikidata.org/wiki/Q2665508","display_name":"Hybrid system","level":2,"score":0.45668095350265503},{"id":"https://openalex.org/C196628372","wikidata":"https://www.wikidata.org/wiki/Q4801090","display_name":"Artificial muscle","level":3,"score":0.4417969584465027},{"id":"https://openalex.org/C110682481","wikidata":"https://www.wikidata.org/wiki/Q7370260","display_name":"Rotary actuator","level":3,"score":0.42404651641845703},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.37055498361587524},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33778780698776245},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15232419967651367},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09993535280227661},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.08993008732795715},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07631790637969971},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","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/iros.2013.6697061","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6697061","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.49000000953674316,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320912","display_name":"Ministry of Education, Culture, Sports, Science and Technology","ror":"https://ror.org/048rj2z13"},{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1603365166","https://openalex.org/W1968808523","https://openalex.org/W2002869386","https://openalex.org/W2067810093","https://openalex.org/W2090298673","https://openalex.org/W2121227960","https://openalex.org/W2140790068","https://openalex.org/W2167856595","https://openalex.org/W2169008203","https://openalex.org/W3147241170"],"related_works":["https://openalex.org/W2012595107","https://openalex.org/W2080112351","https://openalex.org/W2066221870","https://openalex.org/W2742397931","https://openalex.org/W2288267393","https://openalex.org/W4362659378","https://openalex.org/W2586390674","https://openalex.org/W2161150970","https://openalex.org/W1978304568","https://openalex.org/W2115085553"],"abstract_inverted_index":{"We":[0,145,189],"introduce":[1],"our":[2,191],"Pneumatic-Electric":[3],"(PE)":[4],"hybrid":[5,20,30,45,72,140,204],"actuator":[6,31,46,93],"model":[7,13,149],"and":[8,39,49,94,124,171,185,216,219,222,238],"propose":[9],"to":[10,14,66,76,81,115,121,131,137,194,230],"use":[11,107],"the":[12,19,118,122,125,133,138,168,173,182,186,231],"derive":[15],"a":[16,91,147,160,195,236,239],"controller":[17],"for":[18,58],"actuation":[21],"system":[22,141],"by":[23,85,225],"an":[24,40,95,108,155],"optimal":[25,109,134],"control":[26,110,135],"method.":[27],"Our":[28],"PE":[29,44,71,139,203],"is":[32,47,142],"composed":[33,150],"of":[34,70,90,151,167,176,198],"Pneumatic":[35],"Artificial":[36],"Muscle":[37],"(PAM)":[38],"electric":[41,96,126],"motor.":[42,127],"The":[43,128,206],"light":[48],"can":[50],"generate":[51],"large":[52],"torque.":[53],"These":[54],"properties":[55],"are":[56],"desirable":[57],"assistive":[59],"devices":[60],"such":[61],"as":[62],"exoskeleton":[63],"robots.":[64],"However,":[65],"maximally":[67],"take":[68],"advantage":[69],"system,":[73],"we":[74,106],"need":[75],"reasonably":[77,116,226],"distribute":[78,117],"necessary":[79,119,228],"torque":[80,120,229],"these":[82],"redundant":[83],"actuators":[84,234],"properly":[86],"taking":[87],"distinctive":[88],"characteristics":[89],"pneumatic":[92],"motor":[97],"into":[98],"account.":[99],"To":[100],"do":[101],"this,":[102],"in":[103,235],"this":[104],"study,":[105],"method":[111,136,193],"called":[112],"iterative":[113],"LQG":[114],"PAM":[123,143,148],"crucial":[129],"issue":[130],"apply":[132,190],"modeling.":[144],"built":[146],"three":[152],"elements:":[153],"1)":[154],"(air)pressure-force":[156],"conversion":[157],"model,":[158,163],"2)":[159],"contraction":[161,183],"rate":[162,184],"3)":[164],"time":[165],"delay":[166],"air":[169],"valve,":[170],"4)":[172],"upper":[174],"limit":[175],"force":[177],"generation":[178],"that":[179],"depends":[180],"on":[181],"movable":[187],"range.":[188],"proposed":[192],"one":[196],"degree":[197],"freedom":[199],"(one-DoF)":[200],"arm":[201,208],"with":[202],"actuator.":[205],"one-DoF":[207],"successfully":[209],"swing":[210,220],"tasks":[211],"0.5":[212],"Hz,":[213],"2":[214],"Hz":[215,218],"4":[217],"up":[221],"stability":[223],"task":[224],"distributing":[227],"two":[232],"different":[233],"simulated":[237],"real":[240],"environments.":[241]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2014,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
