{"id":"https://openalex.org/W4281552788","doi":"https://doi.org/10.1109/lra.2022.3176094","title":"Simultaneous Motion Tracking and Joint Stiffness Control of Bidirectional Antagonistic Variable-Stiffness Actuators","display_name":"Simultaneous Motion Tracking and Joint Stiffness Control of Bidirectional Antagonistic Variable-Stiffness Actuators","publication_year":2022,"publication_date":"2022-05-20","ids":{"openalex":"https://openalex.org/W4281552788","doi":"https://doi.org/10.1109/lra.2022.3176094"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3176094","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3176094","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/A5043876566","display_name":"Marie Harder","orcid":"https://orcid.org/0000-0001-7188-7233"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Marie Harder","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014098286","display_name":"Manuel Keppler","orcid":"https://orcid.org/0000-0002-1532-963X"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Manuel Keppler","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089667805","display_name":"Xuming Meng","orcid":"https://orcid.org/0000-0001-5642-1830"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Xuming Meng","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048539897","display_name":"Christian Ott","orcid":"https://orcid.org/0000-0003-0987-7493"},"institutions":[{"id":"https://openalex.org/I145847075","display_name":"TU Wien","ror":"https://ror.org/04d836q62","country_code":"AT","type":"education","lineage":["https://openalex.org/I145847075"]},{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["AT","DE"],"is_corresponding":false,"raw_author_name":"Christian Ott","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany","Automation and Control Institute, TU Wien, Vienna, Austria"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Automation and Control Institute, TU Wien, Vienna, Austria","institution_ids":["https://openalex.org/I145847075"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006456757","display_name":"Hannes H\u00f6ppner","orcid":"https://orcid.org/0000-0003-3184-7653"},"institutions":[{"id":"https://openalex.org/I129643931","display_name":"Berliner Hochschule f\u00fcr Technik","ror":"https://ror.org/00w7whj55","country_code":"DE","type":"education","lineage":["https://openalex.org/I129643931"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Hannes Hoppner","raw_affiliation_strings":["Berliner Hochschule f&#x00FC;r Technik (BHT), Berlin, Germany"],"affiliations":[{"raw_affiliation_string":"Berliner Hochschule f&#x00FC;r Technik (BHT), Berlin, Germany","institution_ids":["https://openalex.org/I129643931"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014764259","display_name":"Alexander Dietrich","orcid":"https://orcid.org/0000-0003-3463-5074"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alexander Dietrich","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5043876566"],"corresponding_institution_ids":["https://openalex.org/I2898391981"],"apc_list":null,"apc_paid":null,"fwci":1.3849,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.78556709,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"7","issue":"3","first_page":"6614","last_page":"6621"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9998000264167786,"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":0.9998000264167786,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9977999925613403,"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":0.9976999759674072,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.7562394142150879},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.676762580871582},{"id":"https://openalex.org/keywords/passivity","display_name":"Passivity","score":0.632451057434082},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6301418542861938},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6003506183624268},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.571233868598938},{"id":"https://openalex.org/keywords/joint-stiffness","display_name":"Joint stiffness","score":0.5681219100952148},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5189268589019775},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5124878883361816},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4901912808418274},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.46443304419517517},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.4638535976409912},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.35218459367752075},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.33339452743530273},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.29689985513687134},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2635233402252197},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2516130208969116},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21809637546539307},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12450140714645386},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.11532953381538391}],"concepts":[{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.7562394142150879},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.676762580871582},{"id":"https://openalex.org/C2778809601","wikidata":"https://www.wikidata.org/wiki/Q1045736","display_name":"Passivity","level":2,"score":0.632451057434082},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6301418542861938},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6003506183624268},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.571233868598938},{"id":"https://openalex.org/C2781415944","wikidata":"https://www.wikidata.org/wiki/Q559210","display_name":"Joint stiffness","level":3,"score":0.5681219100952148},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5189268589019775},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5124878883361816},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4901912808418274},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.46443304419517517},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.4638535976409912},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.35218459367752075},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33339452743530273},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29689985513687134},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2635233402252197},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2516130208969116},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21809637546539307},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12450140714645386},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.11532953381538391},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2022.3176094","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3176094","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"},{"id":"pmh:oai:elib.dlr.de:186580","is_oa":false,"landing_page_url":"https://doi.org/10.1109/LRA.2022.3176094>.","pdf_url":null,"source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"PeerReviewed"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G7043407397","display_name":null,"funder_award_id":"819358","funder_id":"https://openalex.org/F4320334678","funder_display_name":"European Research Council"}],"funders":[{"id":"https://openalex.org/F4320334678","display_name":"European Research Council","ror":"https://ror.org/0472cxd90"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W374079423","https://openalex.org/W1564897360","https://openalex.org/W1986689506","https://openalex.org/W1995090200","https://openalex.org/W2073136132","https://openalex.org/W2080638318","https://openalex.org/W2084828843","https://openalex.org/W2086616172","https://openalex.org/W2111253117","https://openalex.org/W2113593135","https://openalex.org/W2120630110","https://openalex.org/W2126171192","https://openalex.org/W2139086916","https://openalex.org/W2144452746","https://openalex.org/W2162036575","https://openalex.org/W2171983089","https://openalex.org/W2172037026","https://openalex.org/W2313800697","https://openalex.org/W2333868129","https://openalex.org/W2793476814","https://openalex.org/W2808806910","https://openalex.org/W2909455565","https://openalex.org/W2997632528","https://openalex.org/W3127130536","https://openalex.org/W4285446018","https://openalex.org/W4301621763"],"related_works":["https://openalex.org/W2083759350","https://openalex.org/W3133687580","https://openalex.org/W2021098562","https://openalex.org/W1566538768","https://openalex.org/W1897710365","https://openalex.org/W2317038355","https://openalex.org/W2942851934","https://openalex.org/W4386883573","https://openalex.org/W2116005591","https://openalex.org/W2736573057"],"abstract_inverted_index":{"Since":[0],"safe":[1],"human-robot":[2],"interaction":[3,88],"is":[4],"naturally":[5],"linked":[6],"to":[7,69],"compliance":[8,61],"in":[9,73],"these":[10],"robots,":[11],"this":[12],"requirement":[13],"presents":[14],"a":[15,44],"challenge":[16],"for":[17,47],"the":[18,32,66,71,74,90,97,103,107,114],"positioning":[19],"accuracy.":[20],"The":[21,76],"class":[22],"of":[23,84,92,96,106],"variable-stiffness":[24,50],"robots":[25],"features":[26],"intrinsically":[27],"soft":[28],"contact":[29],"behavior":[30],"where":[31],"physical":[33,63,87],"stiffness":[34],"can":[35],"even":[36],"be":[37],"altered":[38],"during":[39,62,86],"operation.":[40],"Here":[41],"we":[42],"present":[43],"control":[45],"scheme":[46],"bidirectional,":[48],"antagonistic":[49],"actuators":[51],"that":[52],"achieve":[53],"high-precision":[54],"link-side":[55,99],"trajectory":[56],"tracking":[57],"while":[58],"simultaneously":[59],"ensuring":[60],"contact.":[64],"Furthermore,":[65],"approach":[67],"enables":[68],"regulate":[70],"pretension":[72],"antagonism.":[75],"theoretical":[77],"claims":[78],"are":[79],"confirmed":[80],"by":[81],"formal":[82],"analyses":[83],"passivity":[85],"and":[89],"proof":[91],"uniform":[93],"asymptotic":[94],"stability":[95],"desired":[98],"trajectories.":[100],"Experiments":[101],"on":[102],"forearm":[104],"joint":[105],"DLR":[108],"robot":[109],"<italic":[110],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[111],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">David</i>":[112],"verify":[113],"proposed":[115],"approach.":[116]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
