{"id":"https://openalex.org/W4409494248","doi":"https://doi.org/10.1109/lra.2025.3561564","title":"Effect of Reduced-Order Modelling on Passivity and Rendering Performance Analyses of Series Elastic Actuation","display_name":"Effect of Reduced-Order Modelling on Passivity and Rendering Performance Analyses of Series Elastic Actuation","publication_year":2025,"publication_date":"2025-04-16","ids":{"openalex":"https://openalex.org/W4409494248","doi":"https://doi.org/10.1109/lra.2025.3561564"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3561564","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3561564","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"],"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/A5014757641","display_name":"Celal Umut Kenanoglu","orcid":"https://orcid.org/0000-0002-6556-7054"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Celal Umut Kenanoglu","raw_affiliation_strings":["Department of Cognitive Robotics, Delft University of Technology, Delft, The Netherlands"],"raw_orcid":"https://orcid.org/0000-0002-6556-7054","affiliations":[{"raw_affiliation_string":"Department of Cognitive Robotics, Delft University of Technology, Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017793258","display_name":"Volkan Pato\u011flu","orcid":"https://orcid.org/0000-0001-6644-3937"},"institutions":[{"id":"https://openalex.org/I134235054","display_name":"Sabanc\u0131 \u00dcniversitesi","ror":"https://ror.org/049asqa32","country_code":"TR","type":"education","lineage":["https://openalex.org/I134235054"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Volkan Patoglu","raw_affiliation_strings":["Faculty of Engineering and Natural Sciences, Sabanci University, Istanbul, Türkiye","Faculty of Engineering and Natural Sciences, Sabanci University, Istanbul, Turkiye"],"raw_orcid":"https://orcid.org/0000-0001-6644-3937","affiliations":[{"raw_affiliation_string":"Faculty of Engineering and Natural Sciences, Sabanci University, Istanbul, Türkiye","institution_ids":["https://openalex.org/I134235054"]},{"raw_affiliation_string":"Faculty of Engineering and Natural Sciences, Sabanci University, Istanbul, Turkiye","institution_ids":["https://openalex.org/I134235054"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.1084,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.72413421,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"10","issue":"6","first_page":"5745","last_page":"5752"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9736999869346619,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9736999869346619,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10531","display_name":"Advanced Vision and Imaging","score":0.963100016117096,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T14270","display_name":"Simulation and Modeling Applications","score":0.9128999710083008,"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/passivity","display_name":"Passivity","score":0.9042454957962036},{"id":"https://openalex.org/keywords/rendering","display_name":"Rendering (computer graphics)","score":0.6562590599060059},{"id":"https://openalex.org/keywords/series","display_name":"Series (stratigraphy)","score":0.6042084693908691},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.41296473145484924},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20272156596183777},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.18338927626609802},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.17215514183044434},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.08378514647483826}],"concepts":[{"id":"https://openalex.org/C2778809601","wikidata":"https://www.wikidata.org/wiki/Q1045736","display_name":"Passivity","level":2,"score":0.9042454957962036},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.6562590599060059},{"id":"https://openalex.org/C143724316","wikidata":"https://www.wikidata.org/wiki/Q312468","display_name":"Series (stratigraphy)","level":2,"score":0.6042084693908691},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.41296473145484924},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20272156596183777},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.18338927626609802},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.17215514183044434},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.08378514647483826},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2025.3561564","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3561564","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":"pmh:oai:research.sabanciuniv.edu:51848","is_oa":false,"landing_page_url":"https://research.sabanciuniv.edu/id/eprint/51848/","pdf_url":null,"source":{"id":"https://openalex.org/S4306402254","display_name":"Sabanci University","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I134235054","host_organization_name":"Sabanc\u0131 \u00dcniversitesi","host_organization_lineage":["https://openalex.org/I134235054"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3786676085","display_name":null,"funder_award_id":"23AG003","funder_id":"https://openalex.org/F4320322626","funder_display_name":"T\u00fcrkiye Bilimsel ve Teknolojik Ara\u015ft\u0131rma Kurumu"}],"funders":[{"id":"https://openalex.org/F4320322626","display_name":"T\u00fcrkiye Bilimsel ve Teknolojik Ara\u015ft\u0131rma Kurumu","ror":"https://ror.org/04w9kkr77"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1578038264","https://openalex.org/W1974357213","https://openalex.org/W2003176730","https://openalex.org/W2010561502","https://openalex.org/W2088450887","https://openalex.org/W2096816790","https://openalex.org/W2111253117","https://openalex.org/W2127128696","https://openalex.org/W2139548710","https://openalex.org/W2158641070","https://openalex.org/W2164472100","https://openalex.org/W2506729081","https://openalex.org/W2731213698","https://openalex.org/W2739258182","https://openalex.org/W2998963185","https://openalex.org/W3001115386","https://openalex.org/W3163125010","https://openalex.org/W3195786307","https://openalex.org/W4205801438","https://openalex.org/W4245289959","https://openalex.org/W4353004219","https://openalex.org/W4402915773","https://openalex.org/W6633739303"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W4233304828","https://openalex.org/W4239268637","https://openalex.org/W2952841825","https://openalex.org/W2051296765","https://openalex.org/W1977819874","https://openalex.org/W2787005602","https://openalex.org/W2960878236"],"abstract_inverted_index":{"We":[0,38,131],"study":[1],"reduced-order":[2,59,75,87,129],"models":[3,113],"of":[4,47,65,73,85,92,102,118,139],"series":[5],"elastic":[6],"actuation":[7],"under":[8,80],"velocity-sourced":[9],"impedance":[10,112],"control,":[11],"where":[12],"the":[13,21,45,53,58,63,66,74,82,86,90,93,119,126],"inner":[14],"motion":[15,26],"controller":[16],"is":[17],"assumed":[18],"to":[19,114],"render":[20],"system":[22,49],"into":[23],"an":[24],"ideal":[25],"source":[27],"within":[28],"a":[29,35,136],"control":[30],"bandwidth":[31],"and":[32,41,50,110,122,128,141],"replaced":[33],"by":[34],"low-pass":[36],"filter.":[37],"present":[39],"necessary":[40],"sufficient":[42],"conditions":[43,79],"for":[44],"passivity":[46,54,64,83,91,120],"this":[48],"prove":[51],"that":[52],"results":[55,134],"obtained":[56],"through":[57,135],"model":[60,88],"may":[61],"violate":[62],"full-order":[67,94],"model.":[68],"To":[69],"enable":[70],"safe":[71],"use":[72],"model,":[76],"we":[77,97],"derive":[78],"which":[81],"bounds":[84,121],"guarantee":[89],"system.":[95],"Moreover,":[96],"synthesize":[98],"passive":[99],"physical":[100],"equivalents":[101],"closed-loop":[103],"systems":[104],"while":[105],"rendering":[106,123],"Kelvin-Voigt,":[107],"linear":[108],"spring,":[109],"null":[111],"provide":[115],"rigorous":[116],"comparisons":[117],"performance":[124],"among":[125],"full-":[127],"models.":[130],"verify":[132],"our":[133],"comprehensive":[137],"set":[138],"simulations":[140],"experiments.":[142]},"counts_by_year":[{"year":2026,"cited_by_count":3}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}