{"id":"https://openalex.org/W4391640641","doi":"https://doi.org/10.1109/lra.2024.3363992","title":"A Tendon-Driven Continuum Manipulator With Robust Shape Estimation by Multiple IMUs","display_name":"A Tendon-Driven Continuum Manipulator With Robust Shape Estimation by Multiple IMUs","publication_year":2024,"publication_date":"2024-02-08","ids":{"openalex":"https://openalex.org/W4391640641","doi":"https://doi.org/10.1109/lra.2024.3363992"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3363992","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3363992","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":true,"oa_status":"green","oa_url":"https://hub.hku.hk/handle/10722/344634","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5056624095","display_name":"Rui Peng","orcid":"https://orcid.org/0000-0002-8718-0619"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":true,"raw_author_name":"Rui Peng","raw_affiliation_strings":["Department of Mechanical Engineering, The University of Hong Kong, Hong Kong SAR, China"],"raw_orcid":"https://orcid.org/0000-0002-8718-0619","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The University of Hong Kong, Hong Kong SAR, China","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100627761","display_name":"Yu Wang","orcid":"https://orcid.org/0009-0009-4409-2350"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yu Wang","raw_affiliation_strings":["Department of Mechanical Engineering, The University of Hong Kong, Hong Kong SAR, China"],"raw_orcid":"https://orcid.org/0009-0009-4409-2350","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The University of Hong Kong, Hong Kong SAR, China","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017071421","display_name":"Peng Lu","orcid":"https://orcid.org/0000-0001-5611-4902"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Peng Lu","raw_affiliation_strings":["Department of Mechanical Engineering, The University of Hong Kong, Hong Kong SAR, China"],"raw_orcid":"https://orcid.org/0000-0001-5611-4902","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The University of Hong Kong, Hong Kong SAR, China","institution_ids":["https://openalex.org/I889458895"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5056624095"],"corresponding_institution_ids":["https://openalex.org/I889458895"],"apc_list":null,"apc_paid":null,"fwci":3.5206,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.93096835,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"9","issue":"4","first_page":"3084","last_page":"3091"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9983000159263611,"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":0.9983000159263611,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9912999868392944,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9799000024795532,"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/manipulator","display_name":"Manipulator (device)","score":0.5268275141716003},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4767014682292938},{"id":"https://openalex.org/keywords/tendon","display_name":"Tendon","score":0.4617004990577698},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.39932018518447876},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.26979562640190125},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.17903128266334534},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.17902803421020508},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.1512208878993988}],"concepts":[{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.5268275141716003},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4767014682292938},{"id":"https://openalex.org/C2780105995","wikidata":"https://www.wikidata.org/wiki/Q232358","display_name":"Tendon","level":2,"score":0.4617004990577698},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.39932018518447876},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.26979562640190125},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.17903128266334534},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.17902803421020508},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.1512208878993988},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2024.3363992","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3363992","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:hub.hku.hk:10722/344634","is_oa":true,"landing_page_url":"https://hub.hku.hk/handle/10722/344634","pdf_url":null,"source":{"id":"https://openalex.org/S4377196271","display_name":"The HKU Scholars Hub (University of Hong Kong)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I889458895","host_organization_name":"University of Hong Kong","host_organization_lineage":["https://openalex.org/I889458895"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"}],"best_oa_location":{"id":"pmh:oai:hub.hku.hk:10722/344634","is_oa":true,"landing_page_url":"https://hub.hku.hk/handle/10722/344634","pdf_url":null,"source":{"id":"https://openalex.org/S4377196271","display_name":"The HKU Scholars Hub (University of Hong Kong)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I889458895","host_organization_name":"University of Hong Kong","host_organization_lineage":["https://openalex.org/I889458895"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W2101667962","https://openalex.org/W2914617747","https://openalex.org/W2957867528","https://openalex.org/W3045785884","https://openalex.org/W3127125587","https://openalex.org/W3154357606","https://openalex.org/W3211218032","https://openalex.org/W3214253130","https://openalex.org/W4205088695","https://openalex.org/W4205250459","https://openalex.org/W4210459664","https://openalex.org/W4285102544","https://openalex.org/W4285191739","https://openalex.org/W4285744244","https://openalex.org/W4288037467","https://openalex.org/W4291804749","https://openalex.org/W4311528215","https://openalex.org/W4312585488","https://openalex.org/W4312650103","https://openalex.org/W4312766084","https://openalex.org/W4313119588","https://openalex.org/W4315649248","https://openalex.org/W4360619340","https://openalex.org/W4360995622","https://openalex.org/W4376618514"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W2382290278","https://openalex.org/W2478288626","https://openalex.org/W2350741829","https://openalex.org/W2530322880","https://openalex.org/W1596801655"],"abstract_inverted_index":{"In":[0],"this":[1],"letter,":[2],"a":[3,24,56,145],"tendon-driven":[4],"continuum":[5,11,63,134],"robotic":[6,135,142],"manipulator":[7],"with":[8,70,132],"three":[9],"individual":[10],"sections":[12],"is":[13,20,110],"developed":[14],"and":[15,26,87,99,148],"manufactured.":[16],"The":[17,102],"main":[18],"contribution":[19],"that":[21,105],"we":[22,54,74,90,127],"propose":[23],"robust":[25],"accurate":[27],"shape":[28,95],"estimation":[29,72,108],"method":[30,109],"based":[31],"on":[32,119],"the":[33,38,41,50,61,67,71,80,129],"fusion":[34],"of":[35,94],"multi-IMUs":[36],"for":[37],"manipulator,":[39],"under":[40],"PCC":[42],"(Piecewise":[43],"Constant":[44],"Curvature)":[45],"assumption.":[46],"To":[47,65],"intuitively":[48],"present":[49],"robot's":[51],"configuration":[52],"space,":[53],"develop":[55],"visualization":[57],"environment":[58],"to":[59,112],"showcase":[60],"real-time":[62],"shape.":[64],"validate":[66],"proposed":[68,107,130,141],"system":[69,131,143],"method,":[73],"evaluate":[75],"fundamental":[76],"attributes":[77],"such":[78],"as":[79],"bending":[81],"range,":[82],"tip":[83,120],"velocity,":[84],"effective":[85],"workspace,":[86],"durability.":[88],"Furthermore,":[89],"conduct":[91],"motion":[92],"experiments":[93],"deformation,":[96],"dynamic":[97],"tracking,":[98],"disturbance":[100],"resisting.":[101],"results":[103],"show":[104],"our":[106],"evaluated":[111],"achieve":[113],"less":[114],"than":[115],"20":[116],"mm":[117],"RMSE":[118],"motion,":[121],"during":[122],"consecutive":[123],"3D":[124],"motions.":[125],"Meanwhile,":[126],"compare":[128],"previous":[133],"systems":[136],"in":[137],"mechanism":[138],"properties.":[139],"Our":[140],"has":[144],"more":[146],"compact":[147],"efficient":[149],"structure.":[150]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":3}],"updated_date":"2026-04-27T08:22:11.395708","created_date":"2025-10-10T00:00:00"}