{"id":"https://openalex.org/W4327808452","doi":"https://doi.org/10.1109/lra.2023.3258697","title":"Active Compliance Control Based on EKF Torque Fusion for Robot Manipulators","display_name":"Active Compliance Control Based on EKF Torque Fusion for Robot Manipulators","publication_year":2023,"publication_date":"2023-03-17","ids":{"openalex":"https://openalex.org/W4327808452","doi":"https://doi.org/10.1109/lra.2023.3258697"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3258697","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3258697","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/A5061080196","display_name":"Gao Wang","orcid":"https://orcid.org/0000-0002-4009-8618"},"institutions":[{"id":"https://openalex.org/I159948400","display_name":"Jinan University","ror":"https://ror.org/02xe5ns62","country_code":"CN","type":"education","lineage":["https://openalex.org/I159948400"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Gao Wang","raw_affiliation_strings":["School of Information Science and Technology, Jinan University, Guangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-4009-8618","affiliations":[{"raw_affiliation_string":"School of Information Science and Technology, Jinan University, Guangzhou, China","institution_ids":["https://openalex.org/I159948400"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100446561","display_name":"Zhuo Wang","orcid":"https://orcid.org/0000-0001-8242-5405"},"institutions":[{"id":"https://openalex.org/I159948400","display_name":"Jinan University","ror":"https://ror.org/02xe5ns62","country_code":"CN","type":"education","lineage":["https://openalex.org/I159948400"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhuo Wang","raw_affiliation_strings":["School of Information Science and Technology, Jinan University, Guangzhou, China"],"raw_orcid":"https://orcid.org/0000-0001-8242-5405","affiliations":[{"raw_affiliation_string":"School of Information Science and Technology, Jinan University, Guangzhou, China","institution_ids":["https://openalex.org/I159948400"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063555423","display_name":"Bo Huang","orcid":"https://orcid.org/0000-0003-1380-0616"},"institutions":[{"id":"https://openalex.org/I159948400","display_name":"Jinan University","ror":"https://ror.org/02xe5ns62","country_code":"CN","type":"education","lineage":["https://openalex.org/I159948400"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bo Huang","raw_affiliation_strings":["School of Information Science and Technology, Jinan University, Guangzhou, China"],"raw_orcid":"https://orcid.org/0000-0003-1380-0616","affiliations":[{"raw_affiliation_string":"School of Information Science and Technology, Jinan University, Guangzhou, China","institution_ids":["https://openalex.org/I159948400"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101591420","display_name":"Yahui Gan","orcid":"https://orcid.org/0000-0001-8672-7224"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yahui Gan","raw_affiliation_strings":["School of Automation, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0001-8672-7224","affiliations":[{"raw_affiliation_string":"School of Automation, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055472436","display_name":"Feiyan Min","orcid":"https://orcid.org/0000-0002-8610-2643"},"institutions":[{"id":"https://openalex.org/I159948400","display_name":"Jinan University","ror":"https://ror.org/02xe5ns62","country_code":"CN","type":"education","lineage":["https://openalex.org/I159948400"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Feiyan Min","raw_affiliation_strings":["School of Information Science and Technology, Jinan University, Guangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-8610-2643","affiliations":[{"raw_affiliation_string":"School of Information Science and Technology, Jinan University, Guangzhou, China","institution_ids":["https://openalex.org/I159948400"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.6139,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":{"value":0.9315624,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"8","issue":"5","first_page":"2668","last_page":"2675"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9973000288009644,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9973000288009644,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9848999977111816,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9836000204086304,"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":0.732183039188385},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.7223286628723145},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6674739122390747},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5134981274604797},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.49677497148513794},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.4151952266693115},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.37908047437667847},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3755834400653839},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.37099689245224},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.3670848309993744},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2505442500114441},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.15016603469848633},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14853999018669128}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.732183039188385},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.7223286628723145},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6674739122390747},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5134981274604797},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.49677497148513794},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.4151952266693115},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.37908047437667847},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3755834400653839},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.37099689245224},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.3670848309993744},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2505442500114441},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.15016603469848633},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14853999018669128},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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/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.2023.3258697","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3258697","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":[{"id":"https://openalex.org/G6961186203","display_name":null,"funder_award_id":"62172188","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W2030913535","https://openalex.org/W2059658417","https://openalex.org/W2233054370","https://openalex.org/W2326193784","https://openalex.org/W2587252135","https://openalex.org/W2587491645","https://openalex.org/W2607714105","https://openalex.org/W2744752856","https://openalex.org/W2765218414","https://openalex.org/W2913392690","https://openalex.org/W2942510244","https://openalex.org/W2965879861","https://openalex.org/W2966953015","https://openalex.org/W2979100424","https://openalex.org/W2995130175","https://openalex.org/W2999025912","https://openalex.org/W3003705398","https://openalex.org/W3028308378","https://openalex.org/W3100172161","https://openalex.org/W3126866619","https://openalex.org/W3134397487","https://openalex.org/W3171989525","https://openalex.org/W3180485225"],"related_works":["https://openalex.org/W2002388147","https://openalex.org/W3098928304","https://openalex.org/W2394883510","https://openalex.org/W2023324176","https://openalex.org/W2150958483","https://openalex.org/W2922503265","https://openalex.org/W3097920840","https://openalex.org/W2089114113","https://openalex.org/W2103062922","https://openalex.org/W2162299404"],"abstract_inverted_index":{"To":[0],"improve":[1],"the":[2,11,27,33,48,62,65,69,89,96,104,116,121,126,131,138,152,156,169,174],"accuracy":[3,172],"of":[4,10,29,155,173],"torque":[5,17,98,133,159],"estimation":[6,134],"and":[7,32,53,71,151,182],"compliance":[8,78,119],"control":[9,113],"force":[12,170],"sensorless,":[13],"we":[14],"propose":[15],"a":[16,41,83],"fusion":[18],"method":[19,63],"based":[20,46,87],"on":[21,47,88,125],"extended":[22,185],"Kalman":[23],"filter":[24],"(EKF),":[25],"both":[26],"data":[28],"motor":[30,49],"current":[31],"harmonic":[34],"reducer":[35],"torsional":[36],"deformation":[37,55],"are":[38],"involved.":[39],"First,":[40],"nonlinear":[42,56,72],"EKF":[43],"is":[44,80,111],"designed":[45,81],"side":[50],"dynamic":[51,97,106],"model":[52],"joint":[54,157],"model.":[57],"The":[58,92,108],"experiment":[59],"shows":[60],"that":[61,130],"overcomes":[64],"interference":[66],"caused":[67],"by":[68],"environment":[70],"system":[73],"factors.":[74],"Then,":[75],"an":[76],"active":[77,118],"controller":[79,177],"with":[82,120],"nested":[84],"loop":[85,94,110],"framework":[86],"fused":[90,122],"torque.":[91,123],"inner":[93],"computes":[95],"as":[99],"feedforward":[100],"to":[101,114,144,160,186],"compensate":[102],"for":[103],"system's":[105],"uncertainty.":[107],"outer":[109],"admittance":[112],"realize":[115],"manipulator's":[117],"Experiments":[124],"robotic":[127],"manipulator":[128],"show":[129],"proposed":[132,175],"scheme":[135],"can":[136,178,183],"reduce":[137],"root":[139],"mean":[140],"square":[141],"error":[142,154],"(RMSE)":[143],"0.1278N":[145],"<inline-formula":[146,162],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[147,163],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[148,164],"notation=\"LaTeX\">$\\cdot$</tex-math></inline-formula>":[149,165],"m":[150],"max":[153],"estimated":[158],"0.34N":[161],"m.":[166],"In":[167],"addition,":[168],"tracking":[171],"compliant":[176],"reach":[179],"3.6":[180],"N,":[181],"be":[184],"more":[187],"redundant":[188],"joints.":[189]},"counts_by_year":[{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}