{"id":"https://openalex.org/W4388755191","doi":"https://doi.org/10.1109/lra.2023.3334098","title":"Trajectory Tracking Control of Dual-PAM Soft Actuator With Hysteresis Compensator","display_name":"Trajectory Tracking Control of Dual-PAM Soft Actuator With Hysteresis Compensator","publication_year":2023,"publication_date":"2023-11-17","ids":{"openalex":"https://openalex.org/W4388755191","doi":"https://doi.org/10.1109/lra.2023.3334098"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3334098","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3334098","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/A5101529934","display_name":"Junyi Shen","orcid":"https://orcid.org/0009-0004-5094-2941"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Junyi Shen","raw_affiliation_strings":["Department of Information Physics and Computing, The University of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Information Physics and Computing, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016155662","display_name":"Tetsuro Miyazaki","orcid":"https://orcid.org/0000-0003-3677-2371"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tetsuro Miyazaki","raw_affiliation_strings":["Department of Information Physics and Computing, The University of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Information Physics and Computing, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108771843","display_name":"Shingo Ohno","orcid":null},"institutions":[{"id":"https://openalex.org/I91443412","display_name":"Bridgestone (Japan)","ror":"https://ror.org/04trbvb35","country_code":"JP","type":"company","lineage":["https://openalex.org/I91443412"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shingo Ohno","raw_affiliation_strings":["Innovative Project Planning and Promotion Department, Bridgestone Corporation, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Innovative Project Planning and Promotion Department, Bridgestone Corporation, Tokyo, Japan","institution_ids":["https://openalex.org/I91443412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007469250","display_name":"Maina Sogabe","orcid":"https://orcid.org/0000-0002-0341-8088"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Maina Sogabe","raw_affiliation_strings":["Department of Information Physics and Computing, The University of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Information Physics and Computing, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084289055","display_name":"Kenji Kawashima","orcid":"https://orcid.org/0000-0002-0161-8270"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kenji Kawashima","raw_affiliation_strings":["Department of Information Physics and Computing, The University of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Information Physics and Computing, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5101529934"],"corresponding_institution_ids":["https://openalex.org/I74801974"],"apc_list":null,"apc_paid":null,"fwci":2.4262,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.89100502,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"9","issue":"1","first_page":"335","last_page":"342"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9995999932289124,"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/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9995999932289124,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9993000030517578,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9962000250816345,"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/control-theory","display_name":"Control theory (sociology)","score":0.8606265187263489},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7014662623405457},{"id":"https://openalex.org/keywords/hysteresis","display_name":"Hysteresis","score":0.6640715599060059},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.6484628915786743},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.6244245767593384},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6040985584259033},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.40844404697418213},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.38676685094833374},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.35855263471603394},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25108009576797485},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.18109992146492004},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10370400547981262},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.05090749263763428}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8606265187263489},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7014662623405457},{"id":"https://openalex.org/C123299182","wikidata":"https://www.wikidata.org/wiki/Q190837","display_name":"Hysteresis","level":2,"score":0.6640715599060059},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.6484628915786743},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.6244245767593384},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6040985584259033},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.40844404697418213},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.38676685094833374},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.35855263471603394},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25108009576797485},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.18109992146492004},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10370400547981262},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.05090749263763428},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2023.3334098","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3334098","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":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.6399999856948853}],"awards":[{"id":"https://openalex.org/G129285421","display_name":null,"funder_award_id":"KAKENHI 21H04544","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"}],"funders":[{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1515749184","https://openalex.org/W1614964691","https://openalex.org/W1976269466","https://openalex.org/W1995346557","https://openalex.org/W2000875278","https://openalex.org/W2025029262","https://openalex.org/W2067243719","https://openalex.org/W2073278229","https://openalex.org/W2089481398","https://openalex.org/W2140246545","https://openalex.org/W2151968342","https://openalex.org/W2156378823","https://openalex.org/W2417852104","https://openalex.org/W2603650734","https://openalex.org/W2750576582","https://openalex.org/W2761657948","https://openalex.org/W2775141372","https://openalex.org/W2903854300","https://openalex.org/W2933412104","https://openalex.org/W2943775080","https://openalex.org/W2963530844","https://openalex.org/W2980437852","https://openalex.org/W3021197717","https://openalex.org/W4230132907"],"related_works":["https://openalex.org/W1941703695","https://openalex.org/W3131574667","https://openalex.org/W4323768008","https://openalex.org/W4248382324","https://openalex.org/W4360995134","https://openalex.org/W2373557848","https://openalex.org/W2088970451","https://openalex.org/W2002488624","https://openalex.org/W2157008402","https://openalex.org/W2592302855"],"abstract_inverted_index":{"Soft":[0],"robotics":[1],"is":[2,23],"a":[3,50,71,107],"swiftly":[4],"evolving":[5],"field.":[6],"Pneumatic":[7],"actuators":[8],"are":[9],"suitable":[10],"for":[11,43,110],"driving":[12],"soft":[13,47,115],"robots":[14],"because":[15],"of":[16,46,80],"their":[17,21],"superior":[18],"performance.":[19],"However,":[20],"control":[22,39,61,92,113],"challenging":[24],"due":[25],"to":[26,32,41,76],"the":[27,44,59,77,81,90],"hysteresis":[28,45,64],"characteristics.":[29],"In":[30],"response":[31,102],"this":[33],"challenge,":[34],"we":[35,87],"propose":[36],"an":[37],"adaptive":[38],"method":[40,93],"compensate":[42],"actuators.":[48,116],"Employing":[49],"novel":[51],"dual":[52],"pneumatic":[53],"artificial":[54],"muscle":[55],"(PAM)":[56],"bending":[57],"actuator,":[58],"innovative":[60],"approach":[62],"abates":[63],"effects":[65],"by":[66],"dynamically":[67],"modulating":[68],"gains":[69],"within":[70],"traditional":[72],"PID":[73],"controller":[74],"corresponding":[75],"predicted":[78],"variation":[79],"reference":[82],"trajectory.":[83],"Through":[84],"experimental":[85],"evaluation,":[86],"found":[88],"that":[89],"proposed":[91],"outperforms":[94],"its":[95],"conventional":[96],"counterparts":[97],"regarding":[98],"tracking":[99],"accuracy":[100],"and":[101],"speed.":[103],"Our":[104],"work":[105],"reveals":[106],"new":[108],"direction":[109],"advancing":[111],"model-free":[112],"in":[114]},"counts_by_year":[{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":2}],"updated_date":"2026-03-12T08:34:05.389933","created_date":"2025-10-10T00:00:00"}