{"id":"https://openalex.org/W3126550848","doi":"https://doi.org/10.1109/lra.2021.3056372","title":"Experimental Characterization and Modeling of the Self-Sensing Property in Compliant Twisted String Actuators","display_name":"Experimental Characterization and Modeling of the Self-Sensing Property in Compliant Twisted String Actuators","publication_year":2021,"publication_date":"2021-02-03","ids":{"openalex":"https://openalex.org/W3126550848","doi":"https://doi.org/10.1109/lra.2021.3056372","mag":"3126550848"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3056372","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3056372","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/A5037348450","display_name":"David Bombara","orcid":"https://orcid.org/0000-0003-0791-561X"},"institutions":[{"id":"https://openalex.org/I134113660","display_name":"University of Nevada, Reno","ror":"https://ror.org/01keh0577","country_code":"US","type":"education","lineage":["https://openalex.org/I134113660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"David Bombara","raw_affiliation_strings":["Department of Mechanical Engineering, University of Nevada, Reno, NV, USA","Department of Mechanical Engineering University of Nevada Reno NV USA"],"raw_orcid":"https://orcid.org/0000-0003-0791-561X","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Nevada, Reno, NV, USA","institution_ids":["https://openalex.org/I134113660"]},{"raw_affiliation_string":"Department of Mechanical Engineering University of Nevada Reno NV USA","institution_ids":["https://openalex.org/I134113660"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028740393","display_name":"Revanth Konda","orcid":"https://orcid.org/0000-0001-6525-8713"},"institutions":[{"id":"https://openalex.org/I134113660","display_name":"University of Nevada, Reno","ror":"https://ror.org/01keh0577","country_code":"US","type":"education","lineage":["https://openalex.org/I134113660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Revanth Konda","raw_affiliation_strings":["Department of Mechanical Engineering, University of Nevada, Reno, NV, USA","Department of Mechanical Engineering University of Nevada Reno NV USA"],"raw_orcid":"https://orcid.org/0000-0001-6525-8713","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Nevada, Reno, NV, USA","institution_ids":["https://openalex.org/I134113660"]},{"raw_affiliation_string":"Department of Mechanical Engineering University of Nevada Reno NV USA","institution_ids":["https://openalex.org/I134113660"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100433255","display_name":"Jun Zhang","orcid":"https://orcid.org/0000-0003-1760-1702"},"institutions":[{"id":"https://openalex.org/I134113660","display_name":"University of Nevada, Reno","ror":"https://ror.org/01keh0577","country_code":"US","type":"education","lineage":["https://openalex.org/I134113660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jun Zhang","raw_affiliation_strings":["Department of Mechanical Engineering, University of Nevada, Reno, NV, USA","Department of Mechanical Engineering University of Nevada Reno NV USA"],"raw_orcid":"https://orcid.org/0000-0003-1760-1702","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Nevada, Reno, NV, USA","institution_ids":["https://openalex.org/I134113660"]},{"raw_affiliation_string":"Department of Mechanical Engineering University of Nevada Reno NV USA","institution_ids":["https://openalex.org/I134113660"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.1039,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.74069799,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"6","issue":"2","first_page":"974","last_page":"981"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9994999766349792,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9994999766349792,"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":0.9991000294685364,"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/T11737","display_name":"Advanced Materials and Mechanics","score":0.9991000294685364,"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/actuator","display_name":"Actuator","score":0.721193790435791},{"id":"https://openalex.org/keywords/transient","display_name":"Transient (computer programming)","score":0.5865219235420227},{"id":"https://openalex.org/keywords/hysteresis","display_name":"Hysteresis","score":0.5723761916160583},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5511623024940491},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5485249161720276},{"id":"https://openalex.org/keywords/creep","display_name":"Creep","score":0.5213359594345093},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.469277024269104},{"id":"https://openalex.org/keywords/property","display_name":"Property (philosophy)","score":0.4512575566768646},{"id":"https://openalex.org/keywords/string","display_name":"String (physics)","score":0.4511623978614807},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.43684208393096924},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.42180299758911133},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2159298062324524},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15071648359298706}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.721193790435791},{"id":"https://openalex.org/C2780799671","wikidata":"https://www.wikidata.org/wiki/Q17087362","display_name":"Transient (computer programming)","level":2,"score":0.5865219235420227},{"id":"https://openalex.org/C123299182","wikidata":"https://www.wikidata.org/wiki/Q190837","display_name":"Hysteresis","level":2,"score":0.5723761916160583},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5511623024940491},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5485249161720276},{"id":"https://openalex.org/C149912024","wikidata":"https://www.wikidata.org/wiki/Q462188","display_name":"Creep","level":2,"score":0.5213359594345093},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.469277024269104},{"id":"https://openalex.org/C189950617","wikidata":"https://www.wikidata.org/wiki/Q937228","display_name":"Property (philosophy)","level":2,"score":0.4512575566768646},{"id":"https://openalex.org/C157486923","wikidata":"https://www.wikidata.org/wiki/Q1376436","display_name":"String (physics)","level":2,"score":0.4511623978614807},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.43684208393096924},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.42180299758911133},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2159298062324524},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15071648359298706},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"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/lra.2021.3056372","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3056372","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":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W1138250963","https://openalex.org/W1484863191","https://openalex.org/W1720109179","https://openalex.org/W1881254413","https://openalex.org/W1974833509","https://openalex.org/W1991761189","https://openalex.org/W2006488216","https://openalex.org/W2024972706","https://openalex.org/W2035072927","https://openalex.org/W2038439784","https://openalex.org/W2070662831","https://openalex.org/W2110189618","https://openalex.org/W2129563024","https://openalex.org/W2141068900","https://openalex.org/W2141945233","https://openalex.org/W2172241235","https://openalex.org/W2195082970","https://openalex.org/W2346664680","https://openalex.org/W2553590020","https://openalex.org/W2561625738","https://openalex.org/W2573086037","https://openalex.org/W2588409632","https://openalex.org/W2590782323","https://openalex.org/W2609817793","https://openalex.org/W2737622699","https://openalex.org/W2772360783","https://openalex.org/W2775854755","https://openalex.org/W2947665220","https://openalex.org/W2979381951","https://openalex.org/W2981923864","https://openalex.org/W2991646575","https://openalex.org/W2991829745","https://openalex.org/W3004202185","https://openalex.org/W3024090831","https://openalex.org/W3101873950","https://openalex.org/W3118674150","https://openalex.org/W4231100228","https://openalex.org/W4247701493","https://openalex.org/W4398233154","https://openalex.org/W6644188557","https://openalex.org/W6788330203"],"related_works":["https://openalex.org/W1581108530","https://openalex.org/W2809062887","https://openalex.org/W4378877021","https://openalex.org/W2743427670","https://openalex.org/W2900762017","https://openalex.org/W635360828","https://openalex.org/W2268186159","https://openalex.org/W2331429694","https://openalex.org/W169897692","https://openalex.org/W2056510062"],"abstract_inverted_index":{"Twisted":[0],"string":[1],"actuators":[2],"(TSAs)":[3],"have":[4],"exhibited":[5,125],"great":[6,21],"promise":[7],"in":[8,60,105],"robotic":[9],"applications":[10],"by":[11,72],"generating":[12],"high":[13,160],"translational":[14],"force":[15],"with":[16,69,167],"low":[17],"input":[18],"torque.":[19],"Despite":[20],"success,":[22],"it":[23],"remains":[24],"a":[25,56,66,94,137,141,147],"challenge":[26],"to":[27,96],"reliably":[28],"estimate":[29],"the":[30,86,101,153,159,163,168],"strain":[31,113],"of":[32,43,85,136,162],"TSAs":[33],"using":[34],"compact":[35],"solutions":[36],"while":[37],"maintaining":[38],"actuator":[39],"compliance.":[40],"The":[41,108],"inclusion":[42],"position":[44],"sensors":[45],"not":[46],"only":[47,82],"increases":[48],"system":[49,54],"complexity":[50],"but":[51],"also":[52],"decreases":[53],"compliance,":[55],"property":[57,104],"often":[58],"crucial":[59],"soft":[61],"robots.":[62],"We":[63],"recently":[64],"constructed":[65],"compliant":[67,106,154],"TSA":[68],"self-sensing":[70,103,132,165],"capability":[71],"adopting":[73],"conductive":[74],"and":[75,99,112,121,124,129,146],"stretchable":[76],"super-coiled":[77],"polymer":[78],"(SCP)":[79],"strings;":[80],"however,":[81],"quasi-static":[83],"measurements":[84],"strain-resistance":[87],"correlation":[88,109],"were":[89],"obtained.":[90],"This":[91],"study":[92],"proposes":[93],"strategy":[95],"experimentally":[97],"characterize":[98],"model":[100,133,170],"transient":[102,126],"TSAs.":[107,155],"between":[110],"resistance":[111],"is":[114,150],"characterized":[115],"under":[116],"different":[117],"motor":[118],"twisting":[119],"sequences":[120],"step":[122],"durations,":[123],"decay,":[127],"hysteresis,":[128],"creep.":[130],"A":[131],"that":[134],"consists":[135],"log-based":[138],"nonlinear":[139],"term,":[140,145],"rate-dependent":[142],"Prandtl-Ishlinskii":[143],"hysteresis":[144],"creep":[148],"term":[149],"proposed":[151,164],"for":[152],"Experimental":[156],"results":[157],"confirm":[158],"effectiveness":[161],"approach,":[166],"average":[169],"validation":[171],"error":[172],"less":[173],"than":[174],"0.036":[175],"cm.":[176]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":2}],"updated_date":"2026-06-12T08:23:45.883708","created_date":"2025-10-10T00:00:00"}
