{"id":"https://openalex.org/W4389164249","doi":"https://doi.org/10.1109/lra.2023.3337705","title":"A Hybrid Adaptive Controller for Soft Robot Interchangeability","display_name":"A Hybrid Adaptive Controller for Soft Robot Interchangeability","publication_year":2023,"publication_date":"2023-11-30","ids":{"openalex":"https://openalex.org/W4389164249","doi":"https://doi.org/10.1109/lra.2023.3337705"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3337705","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2023.3337705","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/7339444/10333308.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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":true,"oa_status":"hybrid","oa_url":"https://ieeexplore.ieee.org/ielx7/7083369/7339444/10333308.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5036232035","display_name":"Zixi Chen","orcid":"https://orcid.org/0000-0002-2839-924X"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Zixi Chen","raw_affiliation_strings":["Biorobotics Institute and the Department of Excellence in Robotics and AI, Scuola Superiore Sant&#x0027;Anna, Pisa, Italy"],"raw_orcid":"https://orcid.org/0000-0002-2839-924X","affiliations":[{"raw_affiliation_string":"Biorobotics Institute and the Department of Excellence in Robotics and AI, Scuola Superiore Sant&#x0027;Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078828762","display_name":"Xuyang Ren","orcid":"https://orcid.org/0000-0002-3566-7417"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Xuyang Ren","raw_affiliation_strings":["Biorobotics Institute and the Department of Excellence in Robotics and AI, Scuola Superiore Sant&#x0027;Anna, Pisa, Italy"],"raw_orcid":"https://orcid.org/0000-0002-3566-7417","affiliations":[{"raw_affiliation_string":"Biorobotics Institute and the Department of Excellence in Robotics and AI, Scuola Superiore Sant&#x0027;Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030079937","display_name":"Matteo Bernabei","orcid":"https://orcid.org/0009-0004-1807-6895"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Matteo Bernabei","raw_affiliation_strings":["Biorobotics Institute and the Department of Excellence in Robotics and AI, Scuola Superiore Sant&#x0027;Anna, Pisa, Italy"],"raw_orcid":"https://orcid.org/0009-0004-1807-6895","affiliations":[{"raw_affiliation_string":"Biorobotics Institute and the Department of Excellence in Robotics and AI, Scuola Superiore Sant&#x0027;Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082325092","display_name":"Vanessa Mainardi","orcid":"https://orcid.org/0009-0007-2776-6240"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Vanessa Mainardi","raw_affiliation_strings":["Biorobotics Institute and the Department of Excellence in Robotics and AI, Scuola Superiore Sant&#x0027;Anna, Pisa, Italy"],"raw_orcid":"https://orcid.org/0009-0007-2776-6240","affiliations":[{"raw_affiliation_string":"Biorobotics Institute and the Department of Excellence in Robotics and AI, Scuola Superiore Sant&#x0027;Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036187436","display_name":"Gastone Ciuti","orcid":"https://orcid.org/0000-0002-0855-7976"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Gastone Ciuti","raw_affiliation_strings":["Biorobotics Institute and the Department of Excellence in Robotics and AI, Scuola Superiore Sant&#x0027;Anna, Pisa, Italy"],"raw_orcid":"https://orcid.org/0000-0002-0855-7976","affiliations":[{"raw_affiliation_string":"Biorobotics Institute and the Department of Excellence in Robotics and AI, Scuola Superiore Sant&#x0027;Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067436187","display_name":"Cesare Stefanini","orcid":"https://orcid.org/0000-0003-0989-041X"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Cesare Stefanini","raw_affiliation_strings":["Biorobotics Institute and the Department of Excellence in Robotics and AI, Scuola Superiore Sant&#x0027;Anna, Pisa, Italy"],"raw_orcid":"https://orcid.org/0000-0003-0989-041X","affiliations":[{"raw_affiliation_string":"Biorobotics Institute and the Department of Excellence in Robotics and AI, Scuola Superiore Sant&#x0027;Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I162290304"],"apc_list":null,"apc_paid":null,"fwci":0.9637,"has_fulltext":true,"cited_by_count":12,"citation_normalized_percentile":{"value":0.71049762,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":"9","issue":"1","first_page":"875","last_page":"882"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9883000254631042,"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/T10172","display_name":"Cardiac Valve Diseases and Treatments","score":0.9692000150680542,"subfield":{"id":"https://openalex.org/subfields/2705","display_name":"Cardiology and Cardiovascular Medicine"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/interchangeability","display_name":"Interchangeability","score":0.7900617122650146},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6956501007080078},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6561990976333618},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5232364535331726},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.49949169158935547},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.4831189811229706},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.4828806221485138},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.42831724882125854},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.41560885310173035},{"id":"https://openalex.org/keywords/notation","display_name":"Notation","score":0.41493889689445496},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3433980941772461},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3305511772632599},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3177993893623352},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2784819006919861},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22023531794548035},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.12082433700561523}],"concepts":[{"id":"https://openalex.org/C2779606619","wikidata":"https://www.wikidata.org/wiki/Q17092524","display_name":"Interchangeability","level":2,"score":0.7900617122650146},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6956501007080078},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6561990976333618},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5232364535331726},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.49949169158935547},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.4831189811229706},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.4828806221485138},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.42831724882125854},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.41560885310173035},{"id":"https://openalex.org/C45357846","wikidata":"https://www.wikidata.org/wiki/Q2001982","display_name":"Notation","level":2,"score":0.41493889689445496},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3433980941772461},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3305511772632599},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3177993893623352},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2784819006919861},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22023531794548035},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.12082433700561523},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C94375191","wikidata":"https://www.wikidata.org/wiki/Q11205","display_name":"Arithmetic","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2023.3337705","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2023.3337705","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/7339444/10333308.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:www.iris.sssup.it:11382/573542","is_oa":true,"landing_page_url":"https://hdl.handle.net/11382/573542","pdf_url":null,"source":{"id":"https://openalex.org/S4377196376","display_name":"CINECA IRIS Institutional Research Information System (Sant'Anna School of Advanced Studies)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I162290304","host_organization_name":"Scuola Superiore Sant'Anna","host_organization_lineage":["https://openalex.org/I162290304"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"doi:10.1109/lra.2023.3337705","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2023.3337705","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/7339444/10333308.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.41999998688697815,"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9"}],"awards":[{"id":"https://openalex.org/G1115267702","display_name":null,"funder_award_id":"ECS00000017","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4389164249.pdf","grobid_xml":"https://content.openalex.org/works/W4389164249.grobid-xml"},"referenced_works_count":34,"referenced_works":["https://openalex.org/W1499925623","https://openalex.org/W1988003703","https://openalex.org/W1990603682","https://openalex.org/W2065682774","https://openalex.org/W2128242870","https://openalex.org/W2318613964","https://openalex.org/W2560730116","https://openalex.org/W2770049904","https://openalex.org/W2786905609","https://openalex.org/W2790972108","https://openalex.org/W2807959585","https://openalex.org/W2870735678","https://openalex.org/W2876596030","https://openalex.org/W2904034382","https://openalex.org/W2913860539","https://openalex.org/W2967653827","https://openalex.org/W2970743203","https://openalex.org/W3003514119","https://openalex.org/W3034854526","https://openalex.org/W3129185850","https://openalex.org/W3137613675","https://openalex.org/W3201531385","https://openalex.org/W4231334736","https://openalex.org/W4285246866","https://openalex.org/W4312997263","https://openalex.org/W4318778510","https://openalex.org/W4362457721","https://openalex.org/W4376605614","https://openalex.org/W4376605650","https://openalex.org/W4378192004","https://openalex.org/W4392133005","https://openalex.org/W4392979569","https://openalex.org/W6758949196","https://openalex.org/W6766978945"],"related_works":["https://openalex.org/W2367063746","https://openalex.org/W601292351","https://openalex.org/W1583204413","https://openalex.org/W2335017665","https://openalex.org/W2984198677","https://openalex.org/W1991810297","https://openalex.org/W1819950161","https://openalex.org/W2032253950","https://openalex.org/W2101148463","https://openalex.org/W1604153366"],"abstract_inverted_index":{"Soft":[0,127],"robots":[1,29,129,156,202],"have":[2,138],"been":[3,139],"leveraged":[4],"in":[5,196,228],"considerable":[6],"areas":[7],"like":[8],"surgery,":[9],"rehabilitation,":[10],"and":[11,18,35,102,153,184,209,216],"bionics":[12],"due":[13],"to":[14,24,39,54,67,79,97,116],"their":[15],"softness,":[16],"flexibility,":[17],"safety.":[19],"However,":[20],"it":[21],"is":[22,64,77,114,189],"challenging":[23],"produce":[25],"two":[26],"same":[27,33,136],"soft":[28,43,106,201],"even":[30],"with":[31,99,130,149,161,166,192,203],"the":[32,40,52,68,83,100,118,122,135,145,147,154,158,167,204,229],"mold":[34,137],"manufacturing":[36],"process":[37],"owing":[38],"complexity":[41],"of":[42,48,70,85],"materials.":[44],"Meanwhile,":[45],"widespread":[46],"usage":[47],"a":[49,73,193],"system":[50,61],"requires":[51],"ability":[53],"replace":[55],"inner":[56],"components":[57],"without":[58],"highly":[59],"affecting":[60],"performance,":[62],"which":[63],"interchangeability.":[65],"Due":[66],"necessity":[69],"this":[71],"property,":[72],"hybrid":[74],"adaptive":[75,174],"controller":[76,96,113,175,188,195,199],"introduced":[78],"achieve":[80],"interchangeability":[81],"from":[82,105],"perspective":[84],"control":[86,182],"approaches.":[87],"This":[88,187,198],"method":[89],"utilizes":[90],"an":[91,109,173],"offline-trained":[92],"recurrent":[93],"neural":[94,124],"network":[95,125],"cope":[98],"nonlinear":[101],"delayed":[103],"response":[104],"robots.":[107],"Furthermore,":[108],"online":[110,217],"optimizing":[111],"kinematics":[112],"applied":[115],"decrease":[117],"error":[119],"caused":[120],"by":[121],"above":[123],"controller.":[126],"pneumatic":[128],"different":[131,150,155,181,214],"deformation":[132],"properties":[133],"but":[134],"included":[140],"for":[141,206],"validation":[142],"experiments.":[143],"In":[144],"experiments,":[146],"systems":[148],"actuation":[151],"configurations":[152],"follow":[157],"desired":[159,185],"trajectory":[160],"errors":[162],"of$\\mathbf{3.3\\pm":[163],"2.9\\%}$and$\\mathbf{4.3\\pm":[164],"4.1\\%}$compared":[165],"working":[168],"space":[169],"length,":[170],"respectively.":[171],"Such":[172],"also":[176,190,225],"shows":[177],"good":[178],"performance":[179],"on":[180],"frequencies":[183],"velocities.":[186],"compared":[191],"model-based":[194],"simulation.":[197],"endows":[200],"potential":[205],"wide":[207],"application,":[208],"future":[210],"work":[211],"may":[212,224],"include":[213],"offline":[215],"controllers.":[218],"A":[219],"weight":[220],"parameter":[221],"adjusting":[222],"strategy":[223],"be":[226],"proposed":[227],"future.":[230]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":6}],"updated_date":"2026-07-29T09:40:50.615796","created_date":"2025-10-10T00:00:00"}
