{"id":"https://openalex.org/W2792653314","doi":"https://doi.org/10.1109/lra.2018.2801884","title":"Feedforward Control of Twisted and Coiled Polymer Actuator Based on a Macroscopic Nonlinear Model Focusing on Energy","display_name":"Feedforward Control of Twisted and Coiled Polymer Actuator Based on a Macroscopic Nonlinear Model Focusing on Energy","publication_year":2018,"publication_date":"2018-02-05","ids":{"openalex":"https://openalex.org/W2792653314","doi":"https://doi.org/10.1109/lra.2018.2801884","mag":"2792653314"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2018.2801884","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2801884","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/A5089307919","display_name":"Ken Masuya","orcid":"https://orcid.org/0000-0001-6829-8761"},"institutions":[{"id":"https://openalex.org/I135598925","display_name":"Kyushu University","ror":"https://ror.org/00p4k0j84","country_code":"JP","type":"education","lineage":["https://openalex.org/I135598925"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ken Masuya","raw_affiliation_strings":["Department of\u00a0 Mechanical Engineering, Faculty of Engineering, Kyushu University, Fukuoka, Japan"],"raw_orcid":"https://orcid.org/0000-0001-6829-8761","affiliations":[{"raw_affiliation_string":"Department of\u00a0 Mechanical Engineering, Faculty of Engineering, Kyushu University, Fukuoka, Japan","institution_ids":["https://openalex.org/I135598925"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110534184","display_name":"Shu Ono","orcid":null},"institutions":[{"id":"https://openalex.org/I135598925","display_name":"Kyushu University","ror":"https://ror.org/00p4k0j84","country_code":"JP","type":"education","lineage":["https://openalex.org/I135598925"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shu Ono","raw_affiliation_strings":["Department of\u00a0 Mechanical Engineering, Faculty of Engineering, Kyushu University, Fukuoka, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of\u00a0 Mechanical Engineering, Faculty of Engineering, Kyushu University, Fukuoka, Japan","institution_ids":["https://openalex.org/I135598925"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010321339","display_name":"Kentaro Takagi","orcid":"https://orcid.org/0000-0002-6021-1315"},"institutions":[{"id":"https://openalex.org/I60134161","display_name":"Nagoya University","ror":"https://ror.org/04chrp450","country_code":"JP","type":"education","lineage":["https://openalex.org/I60134161"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kentaro Takagi","raw_affiliation_strings":["Department of Mechanical Systems Engineering, Graduate School of Engineering, Nagoya University, Nagoya, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Systems Engineering, Graduate School of Engineering, Nagoya University, Nagoya, Japan","institution_ids":["https://openalex.org/I60134161"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010975613","display_name":"Kenji Tahara","orcid":"https://orcid.org/0000-0003-4457-7867"},"institutions":[{"id":"https://openalex.org/I135598925","display_name":"Kyushu University","ror":"https://ror.org/00p4k0j84","country_code":"JP","type":"education","lineage":["https://openalex.org/I135598925"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kenji Tahara","raw_affiliation_strings":["Department of\u00a0 Mechanical Engineering, Faculty of Engineering, Kyushu University, Fukuoka, Japan"],"raw_orcid":"https://orcid.org/0000-0003-4457-7867","affiliations":[{"raw_affiliation_string":"Department of\u00a0 Mechanical Engineering, Faculty of Engineering, Kyushu University, Fukuoka, Japan","institution_ids":["https://openalex.org/I135598925"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.0769,"has_fulltext":false,"cited_by_count":27,"citation_normalized_percentile":{"value":0.90801425,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"3","issue":"3","first_page":"1824","last_page":"1831"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11737","display_name":"Advanced Materials and Mechanics","score":0.9997000098228455,"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"}},"topics":[{"id":"https://openalex.org/T11737","display_name":"Advanced Materials and Mechanics","score":0.9997000098228455,"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/T11608","display_name":"Dielectric materials and actuators","score":0.9995999932289124,"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7880417108535767},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6771078109741211},{"id":"https://openalex.org/keywords/feed-forward","display_name":"Feed forward","score":0.6667699813842773},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6141270995140076},{"id":"https://openalex.org/keywords/offset","display_name":"Offset (computer science)","score":0.5545041561126709},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.5523843169212341},{"id":"https://openalex.org/keywords/artificial-muscle","display_name":"Artificial muscle","score":0.5408101677894592},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5155918002128601},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.39051374793052673},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.38316109776496887},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.24410492181777954},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23440015316009521},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.178320050239563},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.07667946815490723}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7880417108535767},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6771078109741211},{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.6667699813842773},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6141270995140076},{"id":"https://openalex.org/C175291020","wikidata":"https://www.wikidata.org/wiki/Q1156822","display_name":"Offset (computer science)","level":2,"score":0.5545041561126709},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.5523843169212341},{"id":"https://openalex.org/C196628372","wikidata":"https://www.wikidata.org/wiki/Q4801090","display_name":"Artificial muscle","level":3,"score":0.5408101677894592},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5155918002128601},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.39051374793052673},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.38316109776496887},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.24410492181777954},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23440015316009521},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.178320050239563},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07667946815490723},{"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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},{"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/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2018.2801884","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2801884","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":[{"display_name":"Life below water","id":"https://metadata.un.org/sdg/14","score":0.6200000047683716}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1523194089","https://openalex.org/W1993743527","https://openalex.org/W2045483967","https://openalex.org/W2070662831","https://openalex.org/W2083520340","https://openalex.org/W2339569030","https://openalex.org/W2339724984","https://openalex.org/W2341967407","https://openalex.org/W2477469351","https://openalex.org/W2481870522","https://openalex.org/W2482576085","https://openalex.org/W2573086037","https://openalex.org/W2605969452","https://openalex.org/W2738189782","https://openalex.org/W2764091886","https://openalex.org/W6671116944","https://openalex.org/W6703788550","https://openalex.org/W6703910494","https://openalex.org/W6704181826","https://openalex.org/W6736593870"],"related_works":["https://openalex.org/W2061848878","https://openalex.org/W2104362930","https://openalex.org/W1631138302","https://openalex.org/W3198778559","https://openalex.org/W2158060137","https://openalex.org/W1968309858","https://openalex.org/W3178844618","https://openalex.org/W2255905369","https://openalex.org/W2042019706","https://openalex.org/W2248012444"],"abstract_inverted_index":{"This":[0],"letter":[1],"proposes":[2],"a":[3,82,161,169],"feedforward":[4],"(FF)":[5],"controller":[6,62,76,103,197],"for":[7,100,172],"the":[8,15,50,57,60,65,69,74,86,90,94,97,101,108,116,122,131,135,138,144,148,164,173,177,182,194,200,204,208],"twisted":[9],"and":[10,33,152,168],"coiled":[11],"polymer":[12],"actuator":[13],"(TCPA),":[14],"so-called":[16],"fishing":[17],"line/sewing":[18],"thread":[19],"artificial":[20,31],"muscle,":[21,32],"based":[22,63,80,133],"on":[23,64,81,134],"its":[24],"macroscopic":[25],"nonlinear":[26,83,98,149],"model.":[27],"TCPA":[28,58,186],"is":[29,104,179,191],"an":[30],"it":[34,190],"contracts":[35],"up":[36],"to":[37,41,55,120,166],"50%":[38],"in":[39],"response":[40],"heating.":[42],"Although":[43],"several":[44],"methods":[45],"considering":[46],"Joule":[47],"heating":[48],"as":[49],"input":[51],"have":[52],"been":[53],"proposed":[54,195],"control":[56],"displacement,":[59],"FF":[61,75,102,196],"linear":[66,153,183,209],"model":[67,87,99,184],"shows":[68],"nonnegligible":[70],"offset":[71,201],"error.":[72],"Therefore,":[73],"should":[77],"be":[78,111],"designed":[79],"model,":[84,140],"e.g.,":[85],"constructed":[88],"by":[89,181],"authors.":[91],"However,":[92],"computing":[93],"inverse":[95,109,145],"of":[96,118,137,160,185,203],"difficult.":[105],"Even":[106],"if":[107],"can":[110,198],"computed":[112],"under":[113],"static":[114],"conditions,":[115],"problem":[117],"how":[119],"compensate":[121,130],"dynamics":[123,132,146,154],"still":[124],"remains.":[125],"For":[126],"this":[127],"problem,":[128],"we":[129,142],"idea":[136],"Hammerstein":[139],"namely":[141],"divide":[143],"into":[147],"transformation":[150],"part":[151,158],"part.":[155],"The":[156],"former":[157],"consists":[159],"converter":[162],"from":[163],"displacement":[165,205],"temperature":[167],"ratio":[170],"adjuster":[171],"squared":[174],"voltage.":[175],"Meanwhile,":[176],"latter":[178],"represented":[180],"temperature.":[187],"Through":[188],"experiments,":[189],"verified":[192],"that":[193],"reduce":[199],"error":[202],"compared":[206],"with":[207],"controller.":[210]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}