{"id":"https://openalex.org/W4416749457","doi":"https://doi.org/10.1109/iros60139.2025.11247076","title":"The Parallel Pneumatic Artificial Muscle Platform Based on RBF Neural Network Compensation","display_name":"The Parallel Pneumatic Artificial Muscle Platform Based on RBF Neural Network Compensation","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416749457","doi":"https://doi.org/10.1109/iros60139.2025.11247076"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11247076","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247076","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5100361663","display_name":"Jun Li","orcid":"https://orcid.org/0000-0001-7218-429X"},"institutions":[{"id":"https://openalex.org/I4210151023","display_name":"Quanzhou Institute of Equipment Manufacturing Haixi Institute","ror":"https://ror.org/05ev3vr27","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210151023"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jun Li","raw_affiliation_strings":["Quanzhou Institute of Equipment Manufacturing Haixi Institutes,Chinese Academy of Sciences,Quanzhou,China,362000"],"affiliations":[{"raw_affiliation_string":"Quanzhou Institute of Equipment Manufacturing Haixi Institutes,Chinese Academy of Sciences,Quanzhou,China,362000","institution_ids":["https://openalex.org/I4210151023"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016228290","display_name":"Y. Sophia Dai","orcid":"https://orcid.org/0000-0002-7928-416X"},"institutions":[{"id":"https://openalex.org/I4210151023","display_name":"Quanzhou Institute of Equipment Manufacturing Haixi Institute","ror":"https://ror.org/05ev3vr27","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210151023"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuanquan Dai","raw_affiliation_strings":["Quanzhou Institute of Equipment Manufacturing Haixi Institutes,Chinese Academy of Sciences,Quanzhou,China,362000"],"affiliations":[{"raw_affiliation_string":"Quanzhou Institute of Equipment Manufacturing Haixi Institutes,Chinese Academy of Sciences,Quanzhou,China,362000","institution_ids":["https://openalex.org/I4210151023"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100416392","display_name":"Dongdong Zhang","orcid":"https://orcid.org/0009-0008-0861-0926"},"institutions":[{"id":"https://openalex.org/I4210151023","display_name":"Quanzhou Institute of Equipment Manufacturing Haixi Institute","ror":"https://ror.org/05ev3vr27","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210151023"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dongdong Zhang","raw_affiliation_strings":["Quanzhou Institute of Equipment Manufacturing Haixi Institutes,Chinese Academy of Sciences,Quanzhou,China,362000"],"affiliations":[{"raw_affiliation_string":"Quanzhou Institute of Equipment Manufacturing Haixi Institutes,Chinese Academy of Sciences,Quanzhou,China,362000","institution_ids":["https://openalex.org/I4210151023"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103446661","display_name":"Ruidong Yu","orcid":"https://orcid.org/0009-0005-2849-9696"},"institutions":[{"id":"https://openalex.org/I4210151023","display_name":"Quanzhou Institute of Equipment Manufacturing Haixi Institute","ror":"https://ror.org/05ev3vr27","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210151023"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ruidong Yu","raw_affiliation_strings":["Quanzhou Institute of Equipment Manufacturing Haixi Institutes,Chinese Academy of Sciences,Quanzhou,China,362000"],"affiliations":[{"raw_affiliation_string":"Quanzhou Institute of Equipment Manufacturing Haixi Institutes,Chinese Academy of Sciences,Quanzhou,China,362000","institution_ids":["https://openalex.org/I4210151023"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5120523042","display_name":"Mingkang Zi","orcid":null},"institutions":[{"id":"https://openalex.org/I4210151023","display_name":"Quanzhou Institute of Equipment Manufacturing Haixi Institute","ror":"https://ror.org/05ev3vr27","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210151023"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingkang Zi","raw_affiliation_strings":["Quanzhou Institute of Equipment Manufacturing Haixi Institutes,Chinese Academy of Sciences,Quanzhou,China,362000"],"affiliations":[{"raw_affiliation_string":"Quanzhou Institute of Equipment Manufacturing Haixi Institutes,Chinese Academy of Sciences,Quanzhou,China,362000","institution_ids":["https://openalex.org/I4210151023"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101666461","display_name":"Shuaicheng Liu","orcid":"https://orcid.org/0000-0002-3088-0016"},"institutions":[{"id":"https://openalex.org/I4210151023","display_name":"Quanzhou Institute of Equipment Manufacturing Haixi Institute","ror":"https://ror.org/05ev3vr27","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210151023"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuaicheng Liu","raw_affiliation_strings":["Quanzhou Institute of Equipment Manufacturing Haixi Institutes,Chinese Academy of Sciences,Quanzhou,China,362000"],"affiliations":[{"raw_affiliation_string":"Quanzhou Institute of Equipment Manufacturing Haixi Institutes,Chinese Academy of Sciences,Quanzhou,China,362000","institution_ids":["https://openalex.org/I4210151023"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102010245","display_name":"Yinhui Xie","orcid":"https://orcid.org/0000-0002-7579-6870"},"institutions":[{"id":"https://openalex.org/I4210151023","display_name":"Quanzhou Institute of Equipment Manufacturing Haixi Institute","ror":"https://ror.org/05ev3vr27","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210151023"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yinhui Xie","raw_affiliation_strings":["Quanzhou Institute of Equipment Manufacturing Haixi Institutes,Chinese Academy of Sciences,Quanzhou,China,362000"],"affiliations":[{"raw_affiliation_string":"Quanzhou Institute of Equipment Manufacturing Haixi Institutes,Chinese Academy of Sciences,Quanzhou,China,362000","institution_ids":["https://openalex.org/I4210151023"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5100361663"],"corresponding_institution_ids":["https://openalex.org/I4210151023"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.38351741,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"5251","last_page":"5256"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9473000168800354,"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":0.9473000168800354,"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":0.01759999990463257,"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/T11608","display_name":"Dielectric materials and actuators","score":0.008200000040233135,"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/artificial-neural-network","display_name":"Artificial neural network","score":0.7064999938011169},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7013000249862671},{"id":"https://openalex.org/keywords/pneumatic-artificial-muscles","display_name":"Pneumatic artificial muscles","score":0.589900016784668},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5863999724388123},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.5849999785423279},{"id":"https://openalex.org/keywords/radial-basis-function","display_name":"Radial basis function","score":0.5260000228881836},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.47909998893737793},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.44940000772476196},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.4433000087738037}],"concepts":[{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.7064999938011169},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7013000249862671},{"id":"https://openalex.org/C2778313331","wikidata":"https://www.wikidata.org/wiki/Q2317989","display_name":"Pneumatic artificial muscles","level":4,"score":0.589900016784668},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5863999724388123},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.5849999785423279},{"id":"https://openalex.org/C98856871","wikidata":"https://www.wikidata.org/wiki/Q1588488","display_name":"Radial basis function","level":3,"score":0.5260000228881836},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5052000284194946},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5012000203132629},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.47909998893737793},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.44940000772476196},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.4433000087738037},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.42399999499320984},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.3944000005722046},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.3896999955177307},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3716000020503998},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.3357999920845032},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.33329999446868896},{"id":"https://openalex.org/C2778420160","wikidata":"https://www.wikidata.org/wiki/Q6917780","display_name":"Motion controller","level":4,"score":0.3215000033378601},{"id":"https://openalex.org/C100673868","wikidata":"https://www.wikidata.org/wiki/Q6917799","display_name":"Motion system","level":3,"score":0.3206000030040741},{"id":"https://openalex.org/C103578843","wikidata":"https://www.wikidata.org/wiki/Q1816388","display_name":"Pneumatic flow control","level":2,"score":0.31940001249313354},{"id":"https://openalex.org/C77405623","wikidata":"https://www.wikidata.org/wiki/Q598451","display_name":"System dynamics","level":2,"score":0.31529998779296875},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.29989999532699585},{"id":"https://openalex.org/C155032097","wikidata":"https://www.wikidata.org/wiki/Q798503","display_name":"Backpropagation","level":3,"score":0.29840001463890076},{"id":"https://openalex.org/C170401851","wikidata":"https://www.wikidata.org/wiki/Q1965061","display_name":"Pneumatic actuator","level":3,"score":0.29170000553131104},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.27900001406669617},{"id":"https://openalex.org/C109217959","wikidata":"https://www.wikidata.org/wiki/Q4567087","display_name":"Pneumatic cylinder","level":3,"score":0.2775999903678894},{"id":"https://openalex.org/C132917294","wikidata":"https://www.wikidata.org/wiki/Q2679684","display_name":"Radial basis function network","level":4,"score":0.2597000002861023},{"id":"https://openalex.org/C196628372","wikidata":"https://www.wikidata.org/wiki/Q4801090","display_name":"Artificial muscle","level":3,"score":0.2581999897956848},{"id":"https://openalex.org/C2781153586","wikidata":"https://www.wikidata.org/wiki/Q7241717","display_name":"Pressure control","level":2,"score":0.25040000677108765},{"id":"https://openalex.org/C199978012","wikidata":"https://www.wikidata.org/wiki/Q1273815","display_name":"Bearing (navigation)","level":2,"score":0.2502000033855438}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11247076","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247076","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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":10,"referenced_works":["https://openalex.org/W1966538400","https://openalex.org/W2126832614","https://openalex.org/W2324022881","https://openalex.org/W2771850904","https://openalex.org/W2892748100","https://openalex.org/W3207089155","https://openalex.org/W4226524719","https://openalex.org/W4387350666","https://openalex.org/W4400345199","https://openalex.org/W4402525725"],"related_works":[],"abstract_inverted_index":{"A":[0],"two-degree-of-freedom":[1,43],"parallel":[2,215],"mechanism":[3,26],"control":[4,183,198,211,229],"system":[5,56,121,156],"based":[6,71],"on":[7,72],"an":[8,113],"adaptive":[9],"learning":[10],"rate":[11],"and":[12,48,68,124,200,235],"radial":[13],"basis":[14],"function":[15],"(RBF)":[16],"neural":[17,115],"network":[18,116],"controller":[19,131,145],"is":[20,27,57],"studied":[21],"in":[22,194],"this":[23,87],"paper.":[24],"The":[25,51,141,177],"composed":[28,98],"of":[29,37,54,91,95,99,109,137,143,173,212,226],"four":[30,100],"pneumatic":[31,101,139,213],"artificial":[32],"muscles(PAM),":[33],"forming":[34],"two":[35,93],"pairs":[36,94],"antagonistic":[38],"single-degree-of-freedom":[39],"joints,":[40],"which":[41],"enable":[42],"motion":[44,107],"along":[45],"the":[46,55,61,66,73,78,83,92,106,110,134,138,144,150,155,171,174,182,186,191,209,224],"X":[47,67],"Y":[49,69],"axes.":[50],"core":[52],"objective":[53],"to":[58,80,119,132,169,189],"automatically":[59],"output":[60],"air":[62],"pressure":[63],"values":[64],"for":[65,208],"axes":[70],"input":[74],"desired":[75,192],"angle,":[76],"driving":[77,96,135],"joints":[79,97],"precisely":[81],"reach":[82],"specified":[84],"angle.":[85],"In":[86],"research,":[88],"dynamic":[89,160],"modeling":[90,122,234],"muscles":[102],"was":[103,117,146],"conducted,":[104],"analyzing":[105],"characteristics":[108],"system.":[111],"Subsequently,":[112],"RBF":[114],"employed":[118],"approximate":[120],"errors":[123],"external":[125],"disturbances,":[126],"combined":[127],"with":[128,196,218],"a":[129,205],"PID":[130],"optimize":[133],"performance":[136],"muscles.":[140],"stability":[142],"proven":[147],"by":[148],"designing":[149],"Lyapunov":[151],"function,":[152],"ensuring":[153],"that":[154,181,231],"remains":[157],"stable":[158],"during":[159],"changes.":[161],"Finally,":[162],"simulation":[163],"experiments":[164],"were":[165],"conducted":[166],"using":[167],"MATLAB/Simulink":[168],"verify":[170],"effectiveness":[172],"proposed":[175],"algorithm.":[176],"experimental":[178],"results":[179],"demonstrate":[180],"algorithm":[184],"enables":[185],"actual":[187],"angle":[188,193],"track":[190],"real-time,":[195],"high":[197],"accuracy":[199],"stability.":[201],"This":[202],"research":[203],"provides":[204],"new":[206],"solution":[207],"precise":[210,233],"muscle-driven":[214],"joint":[216],"systems,":[217],"broad":[219],"application":[220],"prospects,":[221],"effectively":[222],"addressing":[223],"limitations":[225],"traditional":[227],"PAM":[228],"methods":[230],"require":[232],"suffer":[236],"from":[237],"poor":[238],"robustness.":[239]},"counts_by_year":[],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-11-28T00:00:00"}
