{"id":"https://openalex.org/W3150395494","doi":"https://doi.org/10.1109/lra.2021.3068905","title":"Long Short Term Memory Model Based Position-Stiffness Control of Antagonistically Driven Twisted-Coiled Polymer Actuators Using Model Predictive Control","display_name":"Long Short Term Memory Model Based Position-Stiffness Control of Antagonistically Driven Twisted-Coiled Polymer Actuators Using Model Predictive Control","publication_year":2021,"publication_date":"2021-03-25","ids":{"openalex":"https://openalex.org/W3150395494","doi":"https://doi.org/10.1109/lra.2021.3068905","mag":"3150395494"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3068905","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3068905","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/A5053680137","display_name":"Tuan Luong","orcid":"https://orcid.org/0000-0001-5490-4337"},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Tuan Luong","raw_affiliation_strings":["Faculty of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea"],"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058960138","display_name":"Kihyeon Kim","orcid":"https://orcid.org/0000-0002-0336-3072"},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Kihyeon Kim","raw_affiliation_strings":["Faculty of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea"],"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101953942","display_name":"Sungwon Seo","orcid":"https://orcid.org/0000-0001-7862-7936"},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sungwon Seo","raw_affiliation_strings":["Faculty of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea"],"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079817309","display_name":"Jeongmin Jeon","orcid":"https://orcid.org/0000-0001-5567-7447"},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jeongmin Jeon","raw_affiliation_strings":["Faculty of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea"],"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102734018","display_name":"Chan-Yong Park","orcid":"https://orcid.org/0000-0001-5880-9695"},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Chanyong Park","raw_affiliation_strings":["Faculty of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea"],"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058383935","display_name":"Myeongyun Doh","orcid":"https://orcid.org/0000-0001-9524-2050"},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Myeongyun Doh","raw_affiliation_strings":["Faculty of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea"],"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044372267","display_name":"Ja Choon Koo","orcid":"https://orcid.org/0000-0003-0960-1307"},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Ja Choon Koo","raw_affiliation_strings":["Faculty of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea"],"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011232432","display_name":"Hyouk Ryeol Choi","orcid":"https://orcid.org/0000-0003-2902-7453"},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyouk Ryeol Choi","raw_affiliation_strings":["Faculty of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea"],"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055372260","display_name":"Hyungpil Moon","orcid":"https://orcid.org/0000-0002-1091-0716"},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyungpil Moon","raw_affiliation_strings":["Faculty of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea"],"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea","institution_ids":["https://openalex.org/I848706"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5053680137"],"corresponding_institution_ids":["https://openalex.org/I848706"],"apc_list":null,"apc_paid":null,"fwci":2.3292,"has_fulltext":false,"cited_by_count":27,"citation_normalized_percentile":{"value":0.87391822,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":93,"max":99},"biblio":{"volume":"6","issue":"2","first_page":"4141","last_page":"4148"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11737","display_name":"Advanced Materials and Mechanics","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9994000196456909,"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":0.9970999956130981,"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":0.7506623268127441},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.7221272587776184},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7103096842765808},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5916169881820679},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5516232848167419},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5159507393836975},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.4838177561759949},{"id":"https://openalex.org/keywords/waveform","display_name":"Waveform","score":0.47408783435821533},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.47329181432724},{"id":"https://openalex.org/keywords/joint-stiffness","display_name":"Joint stiffness","score":0.4630444645881653},{"id":"https://openalex.org/keywords/mean-squared-prediction-error","display_name":"Mean squared prediction error","score":0.4515515863895416},{"id":"https://openalex.org/keywords/term","display_name":"Term (time)","score":0.4381585121154785},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.31297874450683594},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.19161128997802734},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.1728331744670868},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17250552773475647},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1652730405330658},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14011338353157043}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7506623268127441},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.7221272587776184},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7103096842765808},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5916169881820679},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5516232848167419},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5159507393836975},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.4838177561759949},{"id":"https://openalex.org/C197424946","wikidata":"https://www.wikidata.org/wiki/Q1165717","display_name":"Waveform","level":3,"score":0.47408783435821533},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.47329181432724},{"id":"https://openalex.org/C2781415944","wikidata":"https://www.wikidata.org/wiki/Q559210","display_name":"Joint stiffness","level":3,"score":0.4630444645881653},{"id":"https://openalex.org/C167085575","wikidata":"https://www.wikidata.org/wiki/Q6803654","display_name":"Mean squared prediction error","level":2,"score":0.4515515863895416},{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.4381585121154785},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.31297874450683594},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.19161128997802734},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.1728331744670868},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17250552773475647},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1652730405330658},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14011338353157043},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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.2021.3068905","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3068905","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":[{"id":"https://metadata.un.org/sdg/7","score":0.75,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W2044767719","https://openalex.org/W2050204013","https://openalex.org/W2070662831","https://openalex.org/W2117402460","https://openalex.org/W2221335117","https://openalex.org/W2288308464","https://openalex.org/W2574163510","https://openalex.org/W2734808269","https://openalex.org/W2738189782","https://openalex.org/W2742559061","https://openalex.org/W2743411690","https://openalex.org/W2773554416","https://openalex.org/W2782248275","https://openalex.org/W2786905609","https://openalex.org/W2843252114","https://openalex.org/W2888064938","https://openalex.org/W2910811534","https://openalex.org/W2913446864","https://openalex.org/W2946870880","https://openalex.org/W2998748860","https://openalex.org/W3091380529","https://openalex.org/W3133252882","https://openalex.org/W6747751387","https://openalex.org/W6783999356","https://openalex.org/W6791384088"],"related_works":["https://openalex.org/W1974895211","https://openalex.org/W2129841057","https://openalex.org/W3040712279","https://openalex.org/W2176409448","https://openalex.org/W2364769705","https://openalex.org/W2056136368","https://openalex.org/W2374664672","https://openalex.org/W4367555392","https://openalex.org/W2538520412","https://openalex.org/W2883092465"],"abstract_inverted_index":{"Twisted-coiled":[0],"polymer":[1],"actuators":[2],"(TCA)":[3],"have":[4],"many":[5],"interesting":[6],"properties":[7],"that":[8,78,104],"show":[9,77,138],"potentials":[10],"for":[11],"making":[12],"high":[13,92],"performance":[14,94,97],"bionic":[15],"devices.":[16],"This":[17],"letter":[18],"presents":[19],"a":[20,56,162],"long":[21],"short":[22],"term":[23],"memory":[24],"(LSTM)":[25],"model":[26,61,70],"to":[27,142,171],"predict":[28],"the":[29,89,106,109,139,144,175],"behavior":[30],"of":[31,88,154,168],"an":[32,120,149],"antagonistic":[33],"joint":[34,110,146,184],"driven":[35],"by":[36,79],"hybrid":[37],"TCA":[38],"bundles":[39],"made":[40],"from":[41],"Spandex":[42],"and":[43,65,82,86,95,112,129,160],"nylon":[44],"fibers.":[45],"By":[46],"using":[47,105],"automatic":[48],"differentiation,":[49],"which":[50],"can":[51,62,98,115],"be":[52,63,67,99,116],"done":[53],"with":[54,119,148,174],"PyTorch,":[55],"linearized":[57],"discrete":[58],"state":[59,123,152],"space":[60],"formulated":[64],"then":[66],"utilized":[68],"in":[69,84,157],"predictive":[71],"control":[72,87,96,136],"(MPC).":[73],"The":[74,134],"experimental":[75],"results":[76,137],"combining":[80],"LSTM":[81,107],"MPC":[83,135],"modeling":[85],"TCA,":[90],"both":[91],"prediction":[93],"achieved.":[100],"It":[101],"is":[102],"verified":[103],"model,":[108],"angle":[111,147],"actuator":[113],"temperatures":[114],"predicted":[117],"accurately":[118],"avarage":[121,150],"steady":[122,151],"error":[124,153,177],"less":[125,178],"than":[126,179],"0.1":[127,169],"deg":[128],"0.2":[130],"Cel.":[131],"deg.,":[132],"respectively.":[133],"controller's":[140],"ability":[141],"reach":[143],"desired":[145],"0.21":[155],"degrees":[156,181],"set-point":[158],"regulation":[159],"track":[161],"sinusoidal":[163],"waveform":[164],"at":[165],"composite":[166],"frequencies":[167],"Hz":[170,173],"0.15":[172],"steady-state":[176],"0.38":[180],"while":[182],"changing":[183],"stiffness.":[185]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}