{"id":"https://openalex.org/W3131592052","doi":"https://doi.org/10.1109/iros45743.2020.9341268","title":"A Bio-Inspired Framework for Joint Angle Estimation from Non-Collocated Sensors in Tendon-driven Systems","display_name":"A Bio-Inspired Framework for Joint Angle Estimation from Non-Collocated Sensors in Tendon-driven Systems","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3131592052","doi":"https://doi.org/10.1109/iros45743.2020.9341268","mag":"3131592052"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9341268","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341268","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5067742122","display_name":"Daniel A. Hagen","orcid":"https://orcid.org/0000-0002-7017-5661"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daniel A. Hagen","raw_affiliation_strings":["University of Southern California, Los Angeles, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Southern California, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074590594","display_name":"Ali Marjaninejad","orcid":"https://orcid.org/0000-0001-6943-151X"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]},{"id":"https://openalex.org/I4210116219","display_name":"Engineering Systems (United States)","ror":"https://ror.org/02qg60849","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ali Marjaninejad","raw_affiliation_strings":["Ming Hsieh Department of Electrical and Computer Engineering (Systems)","University of Southern California, Los Angeles, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ming Hsieh Department of Electrical and Computer Engineering (Systems)","institution_ids":["https://openalex.org/I4210116219"]},{"raw_affiliation_string":"University of Southern California, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011153285","display_name":"Francisco J. Valero\u2010Cuevas","orcid":"https://orcid.org/0000-0002-2611-7923"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]},{"id":"https://openalex.org/I4210116219","display_name":"Engineering Systems (United States)","ror":"https://ror.org/02qg60849","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Francisco J. Valero-Cuevas","raw_affiliation_strings":["Division of Bio-kinesiology and Physical Therapy","Ming Hsieh Department of Electrical and Computer Engineering (Systems)","University of Southern California, Los Angeles, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Division of Bio-kinesiology and Physical Therapy","institution_ids":[]},{"raw_affiliation_string":"Ming Hsieh Department of Electrical and Computer Engineering (Systems)","institution_ids":["https://openalex.org/I4210116219"]},{"raw_affiliation_string":"University of Southern California, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I1174212"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.9021,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.74593878,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":93,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"7778","last_page":"7783"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9997000098228455,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9997000098228455,"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":0.9987999796867371,"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":0.9959999918937683,"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/babbling","display_name":"Babbling","score":0.8351842164993286},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6041774749755859},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.568784236907959},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.47529730200767517},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.459806352853775},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.43680340051651},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.4322829246520996},{"id":"https://openalex.org/keywords/orthotics","display_name":"Orthotics","score":0.4231027662754059},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.33144786953926086},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.33110010623931885},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27372944355010986},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10445591807365417},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.08506056666374207}],"concepts":[{"id":"https://openalex.org/C134589348","wikidata":"https://www.wikidata.org/wiki/Q1723890","display_name":"Babbling","level":2,"score":0.8351842164993286},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6041774749755859},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.568784236907959},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.47529730200767517},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.459806352853775},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43680340051651},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.4322829246520996},{"id":"https://openalex.org/C2776462017","wikidata":"https://www.wikidata.org/wiki/Q59744853","display_name":"Orthotics","level":2,"score":0.4231027662754059},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.33144786953926086},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33110010623931885},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27372944355010986},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10445591807365417},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.08506056666374207},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros45743.2020.9341268","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341268","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320332161","display_name":"National Institutes of Health","ror":"https://ror.org/01cwqze88"},{"id":"https://openalex.org/F4320337362","display_name":"National Institute of Arthritis and Musculoskeletal and Skin Diseases","ror":"https://ror.org/006zn3t30"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1549114171","https://openalex.org/W1999306089","https://openalex.org/W2001685400","https://openalex.org/W2005995324","https://openalex.org/W2017346345","https://openalex.org/W2019724270","https://openalex.org/W2037178089","https://openalex.org/W2044590004","https://openalex.org/W2085029715","https://openalex.org/W2086079483","https://openalex.org/W2111253117","https://openalex.org/W2113873479","https://openalex.org/W2130909945","https://openalex.org/W2144854419","https://openalex.org/W2157683422","https://openalex.org/W2170215860","https://openalex.org/W2210804906","https://openalex.org/W2468443503","https://openalex.org/W2552147079","https://openalex.org/W2621161947","https://openalex.org/W2885940331","https://openalex.org/W2898877556","https://openalex.org/W2911423343","https://openalex.org/W2922057017","https://openalex.org/W2958496888","https://openalex.org/W2990747716","https://openalex.org/W3082591301","https://openalex.org/W6632872799","https://openalex.org/W6765121608","https://openalex.org/W6767875508","https://openalex.org/W6770858630"],"related_works":["https://openalex.org/W3195786880","https://openalex.org/W1987305570","https://openalex.org/W2788027299","https://openalex.org/W2131411927","https://openalex.org/W79759078","https://openalex.org/W4206935949","https://openalex.org/W4313499063","https://openalex.org/W4210887047","https://openalex.org/W2022837889","https://openalex.org/W1989062879"],"abstract_inverted_index":{"Estimates":[0],"of":[1,9,67,158,172,175,208,230,232,257,296,336],"limb":[2,28],"posture":[3],"are":[4,57,80,91,135],"critical":[5],"for":[6,83,102],"the":[7,25,34,55,95,170,204,281],"control":[8],"robotic":[10,41,69],"systems.":[11],"This":[12,332],"is":[13],"generally":[14],"accomplished":[15],"by":[16,106,154],"utilizing":[17],"on-location":[18,345],"joint":[19,103,119,184,258,288,319,346],"angle":[20,104,320,347],"encoders":[21],"which":[22,107],"may":[23],"complicate":[24],"design,":[26],"increase":[27],"inertia,":[29],"and":[30,129,140,221,277,299,317,328,338],"add":[31],"noise":[32],"to":[33,62,75,117,182,196,212,219,314],"system.":[35],"Conversely,":[36],"some":[37],"innovative":[38],"or":[39,54,60,71],"smaller":[40],"morphologies":[42],"can":[43,285,311],"benefit":[44],"from":[45,114,124],"non-collocated":[46,176,326],"sensors":[47,73],"when":[48,179],"encoder":[49],"size":[50],"becomes":[51],"prohibitively":[52],"larger":[53],"joints":[56,66],"less":[58],"accessible":[59],"subject":[61,74],"damage":[63],"(e.g.,":[64],"distal":[65],"a":[68,100,228,307],"hand":[70],"foot":[72],"repeated":[76],"impact).":[77],"These":[78],"concerns":[79],"especially":[81],"important":[82],"tendon-driven":[84],"systems":[85],"where":[86,126],"motors":[87,159],"(and":[88],"their":[89],"sensors)":[90],"not":[92,216,343],"placed":[93],"at":[94],"joints.":[96],"Here":[97],"we":[98,193,224,269],"create":[99],"framework":[101,309],"estimation":[105,321],"artificial":[108],"neural":[109,143],"networks":[110,144],"(ANNs)":[111],"use":[112],"limited-experience":[113,313],"motor":[115,245,275,297],"babbling":[116,209,233,298],"predict":[118,183],"angles.":[120],"We":[121,148,167,235,305],"draw":[122],"inspiration":[123],"Nature":[125],"(i)":[127,284],"muscles":[128],"tendons":[130,163],"have":[131],"mechanoreceptors,":[132],"(ii)":[133,300],"there":[134],"no":[136],"dedicated":[137,142],"joint-angle":[138],"sensors,":[139],"(iii)":[141],"perform":[145],"sensory":[146,177,206],"fusion.":[147],"simulated":[149],"an":[150,155,239],"inverted":[151],"pendulum":[152],"driven":[153],"agonist-antagonist":[156],"pair":[157],"that":[160,237,271,310,341],"pull":[161],"on":[162,203,274],"with":[164,241,290],"nonlinear":[165],"elasticity.":[166],"then":[168],"compared":[169],"contributions":[171],"different":[173,190,205],"sets":[174,207],"information":[178],"training":[180,238],"ANNs":[181,262,272],"angle.":[185],"By":[186],"comparing":[187],"performance":[188,226],"across":[189,303],"movement":[191],"tasks":[192,213,324],"were":[194],"able":[195],"determine":[197],"how":[198],"well":[199,248,302],"each":[200],"ANN":[201,240],"(trained":[202],"data)":[210],"generalizes":[211,301],"it":[214],"has":[215],"been":[217],"exposed":[218],"(sinusoidal":[220],"point-to-point).":[222],"Lastly,":[223],"evaluated":[225],"as":[227,247,249,291,293],"function":[229],"amount":[231],"data.":[234,267],"find":[236],"actuator":[242,327],"states":[243],"(i.e.,":[244,280],"positions/velocities/accelerations)":[246],"tendon":[250,265,278,329],"tension":[251,266,330],"data":[252],"produces":[253],"more":[254],"accurate":[255,316],"estimates":[256],"angles":[259,289],"than":[260],"those":[261],"trained":[263,273],"without":[264],"Moreover,":[268],"show":[270],"positions/velocities":[276],"tensions":[279],"bio-inspired":[282],"set)":[283],"reliably":[286],"estimate":[287],"little":[292],"2":[294],"minutes":[295],"tasks.":[304],"demonstrate":[306],"novel":[308,334],"utilize":[312],"provide":[315],"efficient":[318],"during":[322],"dynamical":[323],"using":[325],"measurements.":[331],"enables":[333],"designs":[335],"versatile":[337],"data-efficient":[339],"robots":[340],"do":[342],"require":[344],"sensors.":[348]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2021,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}