{"id":"https://openalex.org/W4400579525","doi":"https://doi.org/10.1109/ismr63436.2024.10585775","title":"Using Neural Networks to Model Hysteretic Kinematics in Tendon-Actuated Continuum Robots","display_name":"Using Neural Networks to Model Hysteretic Kinematics in Tendon-Actuated Continuum Robots","publication_year":2024,"publication_date":"2024-06-03","ids":{"openalex":"https://openalex.org/W4400579525","doi":"https://doi.org/10.1109/ismr63436.2024.10585775"},"language":"en","primary_location":{"id":"doi:10.1109/ismr63436.2024.10585775","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ismr63436.2024.10585775","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 International Symposium on Medical Robotics (ISMR)","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/A5100344883","display_name":"Yuan Wang","orcid":"https://orcid.org/0000-0002-9100-5194"},"institutions":[{"id":"https://openalex.org/I1288882113","display_name":"Boston Children's Hospital","ror":"https://ror.org/00dvg7y05","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I1288882113"]},{"id":"https://openalex.org/I136199984","display_name":"Harvard University","ror":"https://ror.org/03vek6s52","country_code":"US","type":"education","lineage":["https://openalex.org/I136199984"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Yuan Wang","raw_affiliation_strings":["Boston Children's Hospital, Harvard Medical School,Department of Cardiovascular Surgery,Boston,MA,USA,02115"],"affiliations":[{"raw_affiliation_string":"Boston Children's Hospital, Harvard Medical School,Department of Cardiovascular Surgery,Boston,MA,USA,02115","institution_ids":["https://openalex.org/I1288882113","https://openalex.org/I136199984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017036711","display_name":"Max McCandless","orcid":"https://orcid.org/0000-0001-5447-1041"},"institutions":[{"id":"https://openalex.org/I1288882113","display_name":"Boston Children's Hospital","ror":"https://ror.org/00dvg7y05","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I1288882113"]},{"id":"https://openalex.org/I136199984","display_name":"Harvard University","ror":"https://ror.org/03vek6s52","country_code":"US","type":"education","lineage":["https://openalex.org/I136199984"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Max McCandless","raw_affiliation_strings":["Boston Children's Hospital, Harvard Medical School,Department of Cardiovascular Surgery,Boston,MA,USA,02115"],"affiliations":[{"raw_affiliation_string":"Boston Children's Hospital, Harvard Medical School,Department of Cardiovascular Surgery,Boston,MA,USA,02115","institution_ids":["https://openalex.org/I1288882113","https://openalex.org/I136199984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049603549","display_name":"Abdulhamit Donder","orcid":"https://orcid.org/0000-0002-6848-6831"},"institutions":[{"id":"https://openalex.org/I1288882113","display_name":"Boston Children's Hospital","ror":"https://ror.org/00dvg7y05","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I1288882113"]},{"id":"https://openalex.org/I136199984","display_name":"Harvard University","ror":"https://ror.org/03vek6s52","country_code":"US","type":"education","lineage":["https://openalex.org/I136199984"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Abdulhamit Donder","raw_affiliation_strings":["Boston Children's Hospital, Harvard Medical School,Department of Cardiovascular Surgery,Boston,MA,USA,02115"],"affiliations":[{"raw_affiliation_string":"Boston Children's Hospital, Harvard Medical School,Department of Cardiovascular Surgery,Boston,MA,USA,02115","institution_ids":["https://openalex.org/I1288882113","https://openalex.org/I136199984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049921916","display_name":"Giovanni Pittiglio","orcid":"https://orcid.org/0000-0002-0714-5267"},"institutions":[{"id":"https://openalex.org/I1288882113","display_name":"Boston Children's Hospital","ror":"https://ror.org/00dvg7y05","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I1288882113"]},{"id":"https://openalex.org/I136199984","display_name":"Harvard University","ror":"https://ror.org/03vek6s52","country_code":"US","type":"education","lineage":["https://openalex.org/I136199984"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Giovanni Pittiglio","raw_affiliation_strings":["Boston Children's Hospital, Harvard Medical School,Department of Cardiovascular Surgery,Boston,MA,USA,02115"],"affiliations":[{"raw_affiliation_string":"Boston Children's Hospital, Harvard Medical School,Department of Cardiovascular Surgery,Boston,MA,USA,02115","institution_ids":["https://openalex.org/I1288882113","https://openalex.org/I136199984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5095375458","display_name":"Behnam Moradkhani","orcid":"https://orcid.org/0009-0004-1609-2779"},"institutions":[{"id":"https://openalex.org/I142740786","display_name":"University of Louisville","ror":"https://ror.org/01ckdn478","country_code":"US","type":"education","lineage":["https://openalex.org/I142740786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Behnam Moradkhani","raw_affiliation_strings":["University of Louisville,Department of Mechanical Engineering,Louisville,KY,USA,40292"],"affiliations":[{"raw_affiliation_string":"University of Louisville,Department of Mechanical Engineering,Louisville,KY,USA,40292","institution_ids":["https://openalex.org/I142740786"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001760308","display_name":"Yash Chitalia","orcid":"https://orcid.org/0000-0002-6291-3492"},"institutions":[{"id":"https://openalex.org/I142740786","display_name":"University of Louisville","ror":"https://ror.org/01ckdn478","country_code":"US","type":"education","lineage":["https://openalex.org/I142740786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yash Chitalia","raw_affiliation_strings":["University of Louisville,Department of Mechanical Engineering,Louisville,KY,USA,40292"],"affiliations":[{"raw_affiliation_string":"University of Louisville,Department of Mechanical Engineering,Louisville,KY,USA,40292","institution_ids":["https://openalex.org/I142740786"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041400572","display_name":"Pierre E. Dupont","orcid":"https://orcid.org/0000-0001-7294-640X"},"institutions":[{"id":"https://openalex.org/I136199984","display_name":"Harvard University","ror":"https://ror.org/03vek6s52","country_code":"US","type":"education","lineage":["https://openalex.org/I136199984"]},{"id":"https://openalex.org/I1288882113","display_name":"Boston Children's Hospital","ror":"https://ror.org/00dvg7y05","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I1288882113"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Pierre E. Dupont","raw_affiliation_strings":["Boston Children's Hospital, Harvard Medical School,Department of Cardiovascular Surgery,Boston,MA,USA,02115"],"affiliations":[{"raw_affiliation_string":"Boston Children's Hospital, Harvard Medical School,Department of Cardiovascular Surgery,Boston,MA,USA,02115","institution_ids":["https://openalex.org/I1288882113","https://openalex.org/I136199984"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5100344883"],"corresponding_institution_ids":["https://openalex.org/I1288882113","https://openalex.org/I136199984"],"apc_list":null,"apc_paid":null,"fwci":2.5468,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.89521261,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"7"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.961899995803833,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.961899995803833,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9602000117301941,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.944100022315979,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/kinematics","display_name":"Kinematics","score":0.7564717531204224},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6562916040420532},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5041431188583374},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4829956293106079},{"id":"https://openalex.org/keywords/hysteresis","display_name":"Hysteresis","score":0.4159250557422638},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4016103446483612},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.38067713379859924},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22277939319610596},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.21101799607276917},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.06621012091636658}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7564717531204224},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6562916040420532},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5041431188583374},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4829956293106079},{"id":"https://openalex.org/C123299182","wikidata":"https://www.wikidata.org/wiki/Q190837","display_name":"Hysteresis","level":2,"score":0.4159250557422638},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4016103446483612},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.38067713379859924},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22277939319610596},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.21101799607276917},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.06621012091636658},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ismr63436.2024.10585775","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ismr63436.2024.10585775","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 International Symposium on Medical Robotics (ISMR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1775304663","display_name":null,"funder_award_id":"R01HL124020","funder_id":"https://openalex.org/F4320332161","funder_display_name":"National Institutes of Health"}],"funders":[{"id":"https://openalex.org/F4320332161","display_name":"National Institutes of Health","ror":"https://ror.org/01cwqze88"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2789522126","https://openalex.org/W2066693961","https://openalex.org/W2368363778","https://openalex.org/W122584421","https://openalex.org/W4244295168","https://openalex.org/W2753351751","https://openalex.org/W3185180338","https://openalex.org/W2889348933","https://openalex.org/W2351643838","https://openalex.org/W3033677963"],"abstract_inverted_index":{"The":[0],"ability":[1],"to":[2,72,115,133],"accurately":[3],"model":[4,75,109,129,134],"mechanical":[5],"hysteretic":[6,28],"behavior":[7],"in":[8,113,140],"tendon-actuated":[9,34],"continuum":[10,35],"robots":[11,36],"using":[12],"deep":[13],"learning":[14],"approaches":[15,46],"is":[16,97],"a":[17,60,122],"growing":[18],"area":[19],"of":[20,30,33,42,107],"interest.":[21],"In":[22],"this":[23],"paper,":[24],"we":[25,103],"investigate":[26],"the":[27,86,100,105,108,116,127,131],"response":[29],"two":[31],"types":[32,41],"and,":[37],"ultimately,":[38],"compare":[39],"three":[40],"neural":[43,55],"network":[44,56],"modeling":[45],"with":[47,59,121,137],"both":[48,119],"forward":[49],"and":[50,64,126],"inverse":[51],"kinematic":[52,91],"mappings:":[53],"feedforward":[54],"(FNN),":[57],"FNN":[58,120],"history":[61,123],"input":[62,124],"buffer,":[63],"long":[65],"short-term":[66],"memory":[67],"(LSTM)":[68],"network.":[69],"We":[70,81],"seek":[71],"determine":[73],"which":[74],"best":[76],"captures":[77],"temporal":[78],"dependent":[79],"behavior.":[80],"find":[82],"that,":[83,112],"depending":[84],"on":[85],"robot's":[87],"design,":[88],"choosing":[89],"different":[90],"inputs":[92],"can":[93],"alter":[94],"whether":[95],"hysteresis":[96],"exhibited":[98],"by":[99],"system.":[101],"Furthermore,":[102],"present":[104],"results":[106],"fittings,":[110],"revealing":[111],"contrast":[114],"standard":[117],"FNN,":[118],"buffer":[125],"LSTM":[128],"exhibit":[130],"capacity":[132],"historical":[135],"dependence":[136],"comparable":[138],"performance":[139],"capturing":[141],"rate-dependent":[142],"hysteresis.":[143]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":1}],"updated_date":"2026-04-18T07:56:08.524223","created_date":"2025-10-10T00:00:00"}