{"id":"https://openalex.org/W2910811534","doi":"https://doi.org/10.1109/iros.2018.8593937","title":"Impedance Control of a High Performance Twisted-Coiled Polymer Actuator","display_name":"Impedance Control of a High Performance Twisted-Coiled Polymer Actuator","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2910811534","doi":"https://doi.org/10.1109/iros.2018.8593937","mag":"2910811534"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2018.8593937","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593937","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5053680137","display_name":"Tuan Luong","orcid":"https://orcid.org/0000-0001-5490-4337"},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Tuan Luong","raw_affiliation_strings":["Faculty of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea"],"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058960138","display_name":"Kihyeon Kim","orcid":"https://orcid.org/0000-0002-0336-3072"},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Kihyeon Kim","raw_affiliation_strings":["Faculty of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea"],"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101953942","display_name":"Sungwon Seo","orcid":"https://orcid.org/0000-0001-7862-7936"},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sungwon Seo","raw_affiliation_strings":["Faculty of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea"],"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024380836","display_name":"Jae\u2010Hyeong Park","orcid":"https://orcid.org/0000-0001-7035-286X"},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jae Hyeong Park","raw_affiliation_strings":["Faculty of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea"],"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086829943","display_name":"Youngeun Kim","orcid":"https://orcid.org/0000-0001-9905-9528"},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Youngeun Kim","raw_affiliation_strings":["Faculty of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea"],"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000835692","display_name":"Sang Yul Yang","orcid":"https://orcid.org/0000-0002-4862-9233"},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sang Yul Yang","raw_affiliation_strings":["Faculty of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea"],"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048582636","display_name":"Kyeong Ho Cho","orcid":null},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Kyeong Ho Cho","raw_affiliation_strings":["Faculty of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea"],"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044372267","display_name":"Ja Choon Koo","orcid":"https://orcid.org/0000-0003-0960-1307"},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Ja Choon Koo","raw_affiliation_strings":["Faculty of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea"],"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011232432","display_name":"Hyouk Ryeol Choi","orcid":"https://orcid.org/0000-0003-2902-7453"},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyouk Ryeol Choi","raw_affiliation_strings":["Faculty of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea"],"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055372260","display_name":"Hyungpil Moon","orcid":"https://orcid.org/0000-0002-1091-0716"},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyungpil Moon","raw_affiliation_strings":["Faculty of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea"],"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea","institution_ids":["https://openalex.org/I848706"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":10,"corresponding_author_ids":["https://openalex.org/A5053680137"],"corresponding_institution_ids":["https://openalex.org/I848706"],"apc_list":null,"apc_paid":null,"fwci":0.5544,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.66055542,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"8701","last_page":"8706"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11608","display_name":"Dielectric materials and actuators","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/T11608","display_name":"Dielectric materials and actuators","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":0.9961000084877014,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9908999800682068,"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/control-theory","display_name":"Control theory (sociology)","score":0.8349084854125977},{"id":"https://openalex.org/keywords/backstepping","display_name":"Backstepping","score":0.6926504969596863},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6861425638198853},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5845018625259399},{"id":"https://openalex.org/keywords/angular-displacement","display_name":"Angular displacement","score":0.541573166847229},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.511996328830719},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.48669368028640747},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.47843435406684875},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.4708556532859802},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.4453127980232239},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.41012144088745117},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.275277316570282},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2548397183418274},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.19888022541999817},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.1360892951488495},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1003163754940033}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8349084854125977},{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.6926504969596863},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6861425638198853},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5845018625259399},{"id":"https://openalex.org/C108439606","wikidata":"https://www.wikidata.org/wiki/Q3305038","display_name":"Angular displacement","level":2,"score":0.541573166847229},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.511996328830719},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.48669368028640747},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.47843435406684875},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.4708556532859802},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.4453127980232239},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.41012144088745117},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.275277316570282},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2548397183418274},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.19888022541999817},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.1360892951488495},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1003163754940033},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","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/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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/iros.2018.8593937","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593937","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":24,"referenced_works":["https://openalex.org/W1523194089","https://openalex.org/W1560270123","https://openalex.org/W1975248456","https://openalex.org/W1996304777","https://openalex.org/W2070662831","https://openalex.org/W2085470933","https://openalex.org/W2093079120","https://openalex.org/W2156378823","https://openalex.org/W2316478873","https://openalex.org/W2339724984","https://openalex.org/W2477469351","https://openalex.org/W2574163510","https://openalex.org/W2738189782","https://openalex.org/W2743411690","https://openalex.org/W2751449810","https://openalex.org/W2773554416","https://openalex.org/W2798909945","https://openalex.org/W2888064938","https://openalex.org/W4230536724","https://openalex.org/W4243385754","https://openalex.org/W6644039623","https://openalex.org/W6649246457","https://openalex.org/W6703788550","https://openalex.org/W6746606497"],"related_works":["https://openalex.org/W2052320863","https://openalex.org/W2376449068","https://openalex.org/W4365392829","https://openalex.org/W2100998971","https://openalex.org/W2002811656","https://openalex.org/W2990087644","https://openalex.org/W4320038209","https://openalex.org/W2104457306","https://openalex.org/W3164341681","https://openalex.org/W2517897957"],"abstract_inverted_index":{"This":[0],"paper":[1,58],"presents":[2],"a":[3,15,81,89],"1-link":[4],"robotic":[5],"arm":[6],"that":[7,120],"is":[8,28,35,59,80,104],"antagonistically":[9],"driven":[10],"by":[11],"one":[12],"pair":[13],"of":[14,56,68,98,134,140,152,159],"high":[16],"performance":[17],"super-coiled":[18],"polymer":[19],"actuators":[20],"with":[21,72,129],"an":[22],"embedded":[23],"controller.":[24],"The":[25,53,77,101],"actuator":[26],"which":[27,64,84],"made":[29],"from":[30],"Spandex":[31],"and":[32,40,48,75,113,136,154],"nylon":[33],"fibers":[34],"low-cost,":[36],"easy":[37],"to":[38,94,106],"fabricate":[39],"light-weight.":[41],"Moreover,":[42],"it":[43],"can":[44,123],"generate":[45],"large":[46],"displacement":[47],"provide":[49],"Joule":[50],"heating":[51],"capability.":[52],"main":[54],"contribution":[55],"the":[57,60,69,96,125,130,150,155],"model-based":[61],"impedance":[62,78],"controller,":[63],"enables":[65],"position":[66,127,132,157],"control":[67,79,92,95,102],"antagonistic":[70],"joint":[71],"variable":[73],"stiffness":[74],"damping.":[76],"torque-based":[82],"law,":[83],"in":[85],"turn":[86],"depends":[87],"on":[88],"proposed":[90],"backstepping":[91],"law":[93],"force":[97],"each":[99],"actuator.":[100],"system":[103,122],"proved":[105],"be":[107],"stable":[108],"using":[109],"dissipativity":[110],"stability":[111],"theory":[112],"verified":[114],"through":[115],"experiments.":[116],"Experimental":[117],"results":[118],"show":[119],"our":[121],"track":[124],"angular":[126],"reference":[128],"worst":[131,156],"error":[133,139,158],"0.43deg":[135],"root-mean":[137],"squared":[138],"0.16deg":[141],"at":[142],"steady":[143],"state":[144],"for":[145,161],"sinusoidal":[146],"waveform":[147],"tracking":[148],"(with":[149],"frequency":[151],"0.1Hz),":[153],"0.2deg":[160],"set-point":[162],"regulation.":[163]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2}],"updated_date":"2026-03-12T06:13:28.667946","created_date":"2025-10-10T00:00:00"}
