{"id":"https://openalex.org/W4385489544","doi":"https://doi.org/10.1109/lra.2023.3301296","title":"Design, Implementation, and Observer-Based Output Control of a Super-Coiled Polymer-Driven Two Degree-of-Freedom Robotic Eye","display_name":"Design, Implementation, and Observer-Based Output Control of a Super-Coiled Polymer-Driven Two Degree-of-Freedom Robotic Eye","publication_year":2023,"publication_date":"2023-08-02","ids":{"openalex":"https://openalex.org/W4385489544","doi":"https://doi.org/10.1109/lra.2023.3301296","pmid":"https://pubmed.ncbi.nlm.nih.gov/37877111"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3301296","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3301296","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC10593108/pdf/nihms-1924003.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5044434536","display_name":"Sunil Kumar Rajendran","orcid":"https://orcid.org/0000-0001-6116-7857"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sunil Kumar Rajendran","raw_affiliation_strings":["BSS Technologies Inc., Takoma Park, MD, USA"],"raw_orcid":"https://orcid.org/0000-0001-6116-7857","affiliations":[{"raw_affiliation_string":"BSS Technologies Inc., Takoma Park, MD, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064307000","display_name":"Qi Wei","orcid":"https://orcid.org/0000-0003-0923-8413"},"institutions":[{"id":"https://openalex.org/I162714631","display_name":"George Mason University","ror":"https://ror.org/02jqj7156","country_code":"US","type":"education","lineage":["https://openalex.org/I162714631"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Qi Wei","raw_affiliation_strings":["Department of Bioengineering, George Mason University, Fairfax, VA, USA"],"raw_orcid":"https://orcid.org/0000-0003-0923-8413","affiliations":[{"raw_affiliation_string":"Department of Bioengineering, George Mason University, Fairfax, VA, USA","institution_ids":["https://openalex.org/I162714631"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101490060","display_name":"Ningshi Yao","orcid":"https://orcid.org/0000-0003-0414-8347"},"institutions":[{"id":"https://openalex.org/I162714631","display_name":"George Mason University","ror":"https://ror.org/02jqj7156","country_code":"US","type":"education","lineage":["https://openalex.org/I162714631"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ningshi Yao","raw_affiliation_strings":["Department of Electrical and Computer Engineering, George Mason University, Fairfax, VA, USA"],"raw_orcid":"https://orcid.org/0000-0003-0414-8347","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, George Mason University, Fairfax, VA, USA","institution_ids":["https://openalex.org/I162714631"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059772938","display_name":"Feitian Zhang","orcid":"https://orcid.org/0000-0003-0992-5256"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Feitian Zhang","raw_affiliation_strings":["State Key Laboratory of Turbulence and Complex Systems, Department of Advanced Manufacturing and Robotics, College of Engineering, Peking University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-0992-5256","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Turbulence and Complex Systems, Department of Advanced Manufacturing and Robotics, College of Engineering, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.7218,"has_fulltext":true,"cited_by_count":9,"citation_normalized_percentile":{"value":0.63256445,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"8","issue":"9","first_page":"5958","last_page":"5965"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9976000189781189,"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":0.9976000189781189,"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/T11486","display_name":"Micro and Nano Robotics","score":0.9921000003814697,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9909999966621399,"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/kinematics","display_name":"Kinematics","score":0.6668691039085388},{"id":"https://openalex.org/keywords/eye-movement","display_name":"Eye movement","score":0.6532697081565857},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.6351218819618225},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6002448797225952},{"id":"https://openalex.org/keywords/saccadic-masking","display_name":"Saccadic masking","score":0.559973955154419},{"id":"https://openalex.org/keywords/state-observer","display_name":"State observer","score":0.5497822761535645},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5480809211730957},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5064796209335327},{"id":"https://openalex.org/keywords/fixation","display_name":"Fixation (population genetics)","score":0.46495282649993896},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.460050106048584},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4585440456867218},{"id":"https://openalex.org/keywords/smooth-pursuit","display_name":"Smooth pursuit","score":0.4283193349838257},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4071151614189148},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.40533310174942017},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3347833454608917},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27113014459609985}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6668691039085388},{"id":"https://openalex.org/C153050134","wikidata":"https://www.wikidata.org/wiki/Q760256","display_name":"Eye movement","level":2,"score":0.6532697081565857},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.6351218819618225},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6002448797225952},{"id":"https://openalex.org/C11054436","wikidata":"https://www.wikidata.org/wiki/Q7396580","display_name":"Saccadic masking","level":3,"score":0.559973955154419},{"id":"https://openalex.org/C3031470","wikidata":"https://www.wikidata.org/wiki/Q818544","display_name":"State observer","level":3,"score":0.5497822761535645},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5480809211730957},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5064796209335327},{"id":"https://openalex.org/C146249460","wikidata":"https://www.wikidata.org/wiki/Q2914991","display_name":"Fixation (population genetics)","level":3,"score":0.46495282649993896},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.460050106048584},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4585440456867218},{"id":"https://openalex.org/C10324989","wikidata":"https://www.wikidata.org/wiki/Q3400677","display_name":"Smooth pursuit","level":3,"score":0.4283193349838257},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4071151614189148},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.40533310174942017},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3347833454608917},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27113014459609985},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"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/C149923435","wikidata":"https://www.wikidata.org/wiki/Q37732","display_name":"Demography","level":1,"score":0.0},{"id":"https://openalex.org/C2908647359","wikidata":"https://www.wikidata.org/wiki/Q2625603","display_name":"Population","level":2,"score":0.0},{"id":"https://openalex.org/C144024400","wikidata":"https://www.wikidata.org/wiki/Q21201","display_name":"Sociology","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/lra.2023.3301296","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3301296","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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":"pmid:37877111","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/37877111","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE robotics and automation letters","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:10593108","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/10593108","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC10593108/pdf/nihms-1924003.pdf","source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robot Autom Lett","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:pubmedcentral.nih.gov:10593108","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/10593108","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC10593108/pdf/nihms-1924003.pdf","source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robot Autom Lett","raw_type":"Text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.8299999833106995,"display_name":"Peace, Justice and strong institutions"}],"awards":[{"id":"https://openalex.org/G1459182702","display_name":null,"funder_award_id":"L222023","funder_id":"https://openalex.org/F4320322919","funder_display_name":"Natural Science Foundation of Beijing Municipality"},{"id":"https://openalex.org/G4869195583","display_name":null,"funder_award_id":"ECCS-2218517","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G5932281942","display_name":null,"funder_award_id":"EY029715","funder_id":"https://openalex.org/F4320337350","funder_display_name":"National Eye Institute"},{"id":"https://openalex.org/G6571072562","display_name":null,"funder_award_id":"R01 EY029715","funder_id":"https://openalex.org/F4320337350","funder_display_name":"National Eye Institute"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320322919","display_name":"Natural Science Foundation of Beijing Municipality","ror":null},{"id":"https://openalex.org/F4320332505","display_name":"U.S. Public Health Service","ror":"https://ror.org/05xf94514"},{"id":"https://openalex.org/F4320337350","display_name":"National Eye Institute","ror":"https://ror.org/03wkg3b53"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4385489544.pdf"},"referenced_works_count":37,"referenced_works":["https://openalex.org/W30440226","https://openalex.org/W65153156","https://openalex.org/W569809213","https://openalex.org/W1970698044","https://openalex.org/W1988306677","https://openalex.org/W2006077307","https://openalex.org/W2028575381","https://openalex.org/W2080974918","https://openalex.org/W2118593713","https://openalex.org/W2127918612","https://openalex.org/W2131920939","https://openalex.org/W2133006861","https://openalex.org/W2144682848","https://openalex.org/W2334665463","https://openalex.org/W2468633910","https://openalex.org/W2492421401","https://openalex.org/W2566092034","https://openalex.org/W2573086037","https://openalex.org/W2590782323","https://openalex.org/W2768371560","https://openalex.org/W2773768684","https://openalex.org/W2790952658","https://openalex.org/W2792750161","https://openalex.org/W2897474342","https://openalex.org/W3048231269","https://openalex.org/W3048249949","https://openalex.org/W3089576718","https://openalex.org/W3133093963","https://openalex.org/W3134104432","https://openalex.org/W3157829850","https://openalex.org/W3196281229","https://openalex.org/W3209102233","https://openalex.org/W4214873511","https://openalex.org/W4240176790","https://openalex.org/W4315488827","https://openalex.org/W6684921986","https://openalex.org/W6703154284"],"related_works":["https://openalex.org/W2037041423","https://openalex.org/W166264098","https://openalex.org/W2399292286","https://openalex.org/W2024200208","https://openalex.org/W1984907655","https://openalex.org/W2336359245","https://openalex.org/W1964113409","https://openalex.org/W3023486488","https://openalex.org/W1991346175","https://openalex.org/W2011318373"],"abstract_inverted_index":{"The":[0,148],"prevalence":[1],"of":[2,24,37,68,77,104,138,160],"ineffective":[3],"corrective":[4],"surgeries":[5],"for":[6,11,84],"ocular":[7],"motor":[8],"disorders":[9],"calls":[10],"a":[12,38,56,96],"robotic":[13,40,71,127,163],"eye":[14,26,41,128,139],"platform":[15],"in":[16],"aiding":[17],"ophthalmologists":[18],"to":[19,100,130],"better":[20],"understand":[21],"the":[22,31,69,74,78,85,102,107,111,115,118,126,156,161],"biomechanisms":[23],"human":[25],"movement.":[27],"This":[28],"letter":[29,94],"presents":[30],"first":[32],"hardware":[33],"design":[34],"and":[35,54,114,145],"implementation":[36],"2-DOF":[39],"driven":[42],"by":[43],"super-coiled":[44],"polymer":[45],"(SCP)":[46],"artificial":[47],"muscles.":[48],"While":[49],"our":[50],"previous":[51],"work":[52],"designed":[53,112],"simulated":[55],"deep":[57],"deterministic":[58],"policy":[59],"gradient":[60],"(DDPG)":[61],"learning-based":[62,116],"controller":[63],"that":[64],"requires":[65],"full-state":[66],"feedback":[67,121],"SCP-driven":[70,162],"eye,":[72],"measuring":[73],"temperature":[75,103],"states":[76],"slender":[79],"SCPs":[80,105],"is":[81,123],"generally":[82],"impractical":[83],"ubiquitously":[86],"aimed":[87],"robot.":[88],"To":[89],"address":[90],"this":[91,93],"predicament,":[92],"proposes":[95],"reduced-order":[97],"state":[98],"observer":[99,113],"estimate":[101],"given":[106],"kinematic":[108],"measurements.":[109],"Combining":[110],"controller,":[117],"closed-loop":[119],"output":[120,158],"control":[122,159],"implemented":[124],"on":[125,134],"prototype":[129],"examine":[131],"its":[132],"performance":[133],"three":[135],"classical":[136],"types":[137],"movements:":[140],"visual":[141],"fixation,":[142],"saccadic":[143],"pursuit,":[144],"smooth":[146],"pursuit.":[147],"experimental":[149],"results":[150],"are":[151],"presented":[152],"which":[153],"successfully":[154],"validate":[155],"observer-based":[157],"eye.":[164]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":3}],"updated_date":"2026-08-01T09:00:35.917206","created_date":"2025-10-10T00:00:00"}
