{"id":"https://openalex.org/W2790995676","doi":"https://doi.org/10.1109/lra.2018.2800128","title":"Residual-Based External Torque Estimation in Series Elastic Actuators Over a Wide Stiffness Range: Frequency Domain Approach","display_name":"Residual-Based External Torque Estimation in Series Elastic Actuators Over a Wide Stiffness Range: Frequency Domain Approach","publication_year":2018,"publication_date":"2018-01-31","ids":{"openalex":"https://openalex.org/W2790995676","doi":"https://doi.org/10.1109/lra.2018.2800128","mag":"2790995676"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2018.2800128","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2800128","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-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/A5017250304","display_name":"Jinoh Lee","orcid":"https://orcid.org/0000-0002-4901-7095"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Jinoh Lee","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy"],"raw_orcid":"https://orcid.org/0000-0002-4901-7095","affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100663730","display_name":"Chan Lee","orcid":"https://orcid.org/0000-0003-0813-6335"},"institutions":[{"id":"https://openalex.org/I193352282","display_name":"Daegu Gyeongbuk Institute of Science and Technology","ror":"https://ror.org/03frjya69","country_code":"KR","type":"education","lineage":["https://openalex.org/I193352282"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Chan Lee","raw_affiliation_strings":["Department of Robotics Engineering, Daegu Gyeongbuk Institute of Science and Technology, Daegu, South Korea"],"raw_orcid":"https://orcid.org/0000-0003-0813-6335","affiliations":[{"raw_affiliation_string":"Department of Robotics Engineering, Daegu Gyeongbuk Institute of Science and Technology, Daegu, South Korea","institution_ids":["https://openalex.org/I193352282"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Nikolaos Tsagarakis","orcid":null},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Nikolaos Tsagarakis","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5007243736","display_name":"Sehoon Oh","orcid":"https://orcid.org/0000-0003-0838-163X"},"institutions":[{"id":"https://openalex.org/I193352282","display_name":"Daegu Gyeongbuk Institute of Science and Technology","ror":"https://ror.org/03frjya69","country_code":"KR","type":"education","lineage":["https://openalex.org/I193352282"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sehoon Oh","raw_affiliation_strings":["Department of Robotics Engineering, Daegu Gyeongbuk Institute of Science and Technology, Daegu, South Korea"],"raw_orcid":"https://orcid.org/0000-0003-0838-163X","affiliations":[{"raw_affiliation_string":"Department of Robotics Engineering, Daegu Gyeongbuk Institute of Science and Technology, Daegu, South Korea","institution_ids":["https://openalex.org/I193352282"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5017250304"],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":1.5601,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":{"value":0.81456795,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"3","issue":"3","first_page":"1442","last_page":"1449"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9990000128746033,"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":0.9990000128746033,"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":0.9876000285148621,"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":0.9832000136375427,"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/residual","display_name":"Residual","score":0.8390144109725952},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.7526593804359436},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6974600553512573},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.6898269653320312},{"id":"https://openalex.org/keywords/deflection","display_name":"Deflection (physics)","score":0.6851007342338562},{"id":"https://openalex.org/keywords/frequency-domain","display_name":"Frequency domain","score":0.6368796825408936},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5630694627761841},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5161539316177368},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.5092841386795044},{"id":"https://openalex.org/keywords/usability","display_name":"Usability","score":0.4720768928527832},{"id":"https://openalex.org/keywords/series","display_name":"Series (stratigraphy)","score":0.4705558121204376},{"id":"https://openalex.org/keywords/spring","display_name":"Spring (device)","score":0.4261774718761444},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25005441904067993},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.18152475357055664},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.1490846574306488},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.129177063703537},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10255801677703857},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.07230335474014282},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.07216459512710571}],"concepts":[{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.8390144109725952},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.7526593804359436},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6974600553512573},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.6898269653320312},{"id":"https://openalex.org/C2781355719","wikidata":"https://www.wikidata.org/wiki/Q2080698","display_name":"Deflection (physics)","level":2,"score":0.6851007342338562},{"id":"https://openalex.org/C19118579","wikidata":"https://www.wikidata.org/wiki/Q786423","display_name":"Frequency domain","level":2,"score":0.6368796825408936},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5630694627761841},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5161539316177368},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.5092841386795044},{"id":"https://openalex.org/C170130773","wikidata":"https://www.wikidata.org/wiki/Q216378","display_name":"Usability","level":2,"score":0.4720768928527832},{"id":"https://openalex.org/C143724316","wikidata":"https://www.wikidata.org/wiki/Q312468","display_name":"Series (stratigraphy)","level":2,"score":0.4705558121204376},{"id":"https://openalex.org/C2778712887","wikidata":"https://www.wikidata.org/wiki/Q102836","display_name":"Spring (device)","level":2,"score":0.4261774718761444},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25005441904067993},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.18152475357055664},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.1490846574306488},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.129177063703537},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10255801677703857},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.07230335474014282},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07216459512710571},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","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/lra.2018.2800128","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2800128","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8500000238418579,"display_name":"Life below water","id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1535570778","https://openalex.org/W1980180948","https://openalex.org/W1990443524","https://openalex.org/W1995343612","https://openalex.org/W2002589631","https://openalex.org/W2014550481","https://openalex.org/W2033433965","https://openalex.org/W2039793308","https://openalex.org/W2065858147","https://openalex.org/W2092959905","https://openalex.org/W2102159351","https://openalex.org/W2111898076","https://openalex.org/W2116767351","https://openalex.org/W2131292439","https://openalex.org/W2149085596","https://openalex.org/W2150024155","https://openalex.org/W2152526632","https://openalex.org/W2162207896","https://openalex.org/W2166230296","https://openalex.org/W2171868844","https://openalex.org/W2267593487","https://openalex.org/W2282970194","https://openalex.org/W2293200354","https://openalex.org/W2523980053","https://openalex.org/W2566495809","https://openalex.org/W2730083658","https://openalex.org/W2737757908","https://openalex.org/W2749111945","https://openalex.org/W2762248135","https://openalex.org/W2783079486","https://openalex.org/W4250087872"],"related_works":["https://openalex.org/W4389670110","https://openalex.org/W2429057255","https://openalex.org/W2187546663","https://openalex.org/W148745890","https://openalex.org/W2611942503","https://openalex.org/W4315621326","https://openalex.org/W2899790217","https://openalex.org/W1576092969","https://openalex.org/W2598865957","https://openalex.org/W2524154428"],"abstract_inverted_index":{"This":[0],"letter":[1,82],"presents":[2],"an":[3],"enhanced":[4,96],"external":[5],"torque":[6,27,62,75],"estimation":[7,28,44],"algorithm":[8],"for":[9],"series":[10],"elastic":[11],"actuators":[12],"(SEAs)":[13],"expanding":[14],"the":[15,18,22,71,79,84,87,95,120],"usability":[16],"of":[17,51,86,106,110,122],"residual-based":[19],"technique.":[20],"Although":[21],"residual":[23,97],"method":[24,112,118],"demonstrates":[25],"online":[26],"capability":[29],"in":[30,46,70,90,119],"diverse":[31],"applications":[32],"and":[33,93,124],"thus":[34],"becomes":[35],"popular,":[36],"it":[37],"is":[38,56,65,113],"practically":[39],"challenging":[40],"to":[41,98],"achieve":[42],"accurate":[43],"performance":[45,54,109],"a":[47,102],"wide":[48,103],"stiffness":[49,104],"range":[50,105],"SEAs.":[52,107],"The":[53,108],"degradation":[55],"mainly":[57],"induced":[58],"by":[59],"inaccurate":[60],"transmission":[61],"information,":[63],"which":[64],"stemmed":[66],"from":[67],"unexpected":[68],"errors":[69],"spring":[72],"deflection":[73],"based":[74],"sensing.":[76],"To":[77],"overcome":[78],"issue,":[80],"this":[81],"analyses":[83],"limitation":[85],"conventional":[88,117],"approach":[89],"frequency":[91],"domain":[92],"proposes":[94],"be":[99],"used":[100],"over":[101],"proposed":[111],"comparatively":[114],"verified":[115],"with":[116],"both":[121],"simulations":[123],"experiments.":[125]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":4}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}