{"id":"https://openalex.org/W4412610867","doi":"https://doi.org/10.1109/lra.2025.3592077","title":"Design and Experimental Validation of a Controller for Bowden-Cable Actuators Subject to Friction Variation","display_name":"Design and Experimental Validation of a Controller for Bowden-Cable Actuators Subject to Friction Variation","publication_year":2025,"publication_date":"2025-07-23","ids":{"openalex":"https://openalex.org/W4412610867","doi":"https://doi.org/10.1109/lra.2025.3592077"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3592077","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3592077","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://hal.science/hal-05175570","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5007882215","display_name":"Yaodong Lu","orcid":"https://orcid.org/0000-0002-8412-9340"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I39804081","display_name":"Sorbonne Universit\u00e9","ror":"https://ror.org/02en5vm52","country_code":"FR","type":"education","lineage":["https://openalex.org/I39804081"]},{"id":"https://openalex.org/I4210150358","display_name":"Institut Syst\u00e8mes Intelligents et de Robotique","ror":"https://ror.org/05neq8668","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I154526488","https://openalex.org/I39804081","https://openalex.org/I4210150358","https://openalex.org/I4210159245"]},{"id":"https://openalex.org/I51101395","display_name":"Universit\u00e9 Paris 1 Panth\u00e9on-Sorbonne","ror":"https://ror.org/002t25c44","country_code":"FR","type":"education","lineage":["https://openalex.org/I51101395"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Yaodong Lu","raw_affiliation_strings":["Sorbonne Universit&#x00E9;, CNRS UMR 7222, ISIR, Paris, France"],"raw_orcid":"https://orcid.org/0000-0002-8412-9340","affiliations":[{"raw_affiliation_string":"Sorbonne Universit&#x00E9;, CNRS UMR 7222, ISIR, Paris, France","institution_ids":["https://openalex.org/I39804081","https://openalex.org/I51101395","https://openalex.org/I1294671590","https://openalex.org/I4210150358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035774557","display_name":"Yannick Aoustin","orcid":"https://orcid.org/0000-0002-3484-117X"},"institutions":[{"id":"https://openalex.org/I100445878","display_name":"\u00c9cole Centrale de Nantes","ror":"https://ror.org/03nh7d505","country_code":"FR","type":"education","lineage":["https://openalex.org/I100445878","https://openalex.org/I97188460"]},{"id":"https://openalex.org/I4210117005","display_name":"Laboratoire des Sciences du Num\u00e9rique de Nantes","ror":"https://ror.org/02snf8m58","country_code":"FR","type":"facility","lineage":["https://openalex.org/I100445878","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I205703379","https://openalex.org/I4210117005","https://openalex.org/I4210124215","https://openalex.org/I4210127572","https://openalex.org/I4210139971","https://openalex.org/I97188460","https://openalex.org/I97188460"]},{"id":"https://openalex.org/I97188460","display_name":"Nantes Universit\u00e9","ror":"https://ror.org/03gnr7b55","country_code":"FR","type":"education","lineage":["https://openalex.org/I97188460"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Yannick Aoustin","raw_affiliation_strings":["ECN-Nantes Universit&#x00E9;, UMR 6004, LS2N, Nantes, France"],"raw_orcid":"https://orcid.org/0000-0002-3484-117X","affiliations":[{"raw_affiliation_string":"ECN-Nantes Universit&#x00E9;, UMR 6004, LS2N, Nantes, France","institution_ids":["https://openalex.org/I97188460","https://openalex.org/I100445878","https://openalex.org/I4210117005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5119057151","display_name":"Pablo Nocito","orcid":null},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I39804081","display_name":"Sorbonne Universit\u00e9","ror":"https://ror.org/02en5vm52","country_code":"FR","type":"education","lineage":["https://openalex.org/I39804081"]},{"id":"https://openalex.org/I4210150358","display_name":"Institut Syst\u00e8mes Intelligents et de Robotique","ror":"https://ror.org/05neq8668","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I154526488","https://openalex.org/I39804081","https://openalex.org/I4210150358","https://openalex.org/I4210159245"]},{"id":"https://openalex.org/I51101395","display_name":"Universit\u00e9 Paris 1 Panth\u00e9on-Sorbonne","ror":"https://ror.org/002t25c44","country_code":"FR","type":"education","lineage":["https://openalex.org/I51101395"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Pablo Nocito","raw_affiliation_strings":["Sorbonne Universit&#x00E9;, CNRS UMR 7222, ISIR, Paris, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sorbonne Universit&#x00E9;, CNRS UMR 7222, ISIR, Paris, France","institution_ids":["https://openalex.org/I39804081","https://openalex.org/I51101395","https://openalex.org/I1294671590","https://openalex.org/I4210150358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091356055","display_name":"S\u00e9bastien Mick","orcid":"https://orcid.org/0000-0002-9900-6263"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I39804081","display_name":"Sorbonne Universit\u00e9","ror":"https://ror.org/02en5vm52","country_code":"FR","type":"education","lineage":["https://openalex.org/I39804081"]},{"id":"https://openalex.org/I4210150358","display_name":"Institut Syst\u00e8mes Intelligents et de Robotique","ror":"https://ror.org/05neq8668","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I154526488","https://openalex.org/I39804081","https://openalex.org/I4210150358","https://openalex.org/I4210159245"]},{"id":"https://openalex.org/I51101395","display_name":"Universit\u00e9 Paris 1 Panth\u00e9on-Sorbonne","ror":"https://ror.org/002t25c44","country_code":"FR","type":"education","lineage":["https://openalex.org/I51101395"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"S\u00e9bastien Mick","raw_affiliation_strings":["Sorbonne Universit&#x00E9;, CNRS UMR 7222, ISIR, Paris, France"],"raw_orcid":"https://orcid.org/0000-0002-9900-6263","affiliations":[{"raw_affiliation_string":"Sorbonne Universit&#x00E9;, CNRS UMR 7222, ISIR, Paris, France","institution_ids":["https://openalex.org/I39804081","https://openalex.org/I51101395","https://openalex.org/I1294671590","https://openalex.org/I4210150358"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057665161","display_name":"Nathana\u00ebl Jarrass\u00e9","orcid":"https://orcid.org/0000-0002-5680-1566"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I39804081","display_name":"Sorbonne Universit\u00e9","ror":"https://ror.org/02en5vm52","country_code":"FR","type":"education","lineage":["https://openalex.org/I39804081"]},{"id":"https://openalex.org/I4210150358","display_name":"Institut Syst\u00e8mes Intelligents et de Robotique","ror":"https://ror.org/05neq8668","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I154526488","https://openalex.org/I39804081","https://openalex.org/I4210150358","https://openalex.org/I4210159245"]},{"id":"https://openalex.org/I51101395","display_name":"Universit\u00e9 Paris 1 Panth\u00e9on-Sorbonne","ror":"https://ror.org/002t25c44","country_code":"FR","type":"education","lineage":["https://openalex.org/I51101395"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Nathana\u00ebl Jarrass\u00e9","raw_affiliation_strings":["Sorbonne Universit&#x00E9;, CNRS UMR 7222, ISIR, Paris, France"],"raw_orcid":"https://orcid.org/0000-0002-5680-1566","affiliations":[{"raw_affiliation_string":"Sorbonne Universit&#x00E9;, CNRS UMR 7222, ISIR, Paris, France","institution_ids":["https://openalex.org/I39804081","https://openalex.org/I51101395","https://openalex.org/I1294671590","https://openalex.org/I4210150358"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.5378,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.61190805,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"10","issue":"9","first_page":"9264","last_page":"9271"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12252","display_name":"Mechanical stress and fatigue analysis","score":0.8998000025749207,"subfield":{"id":"https://openalex.org/subfields/2211","display_name":"Mechanics of Materials"},"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/T12252","display_name":"Mechanical stress and fatigue analysis","score":0.8998000025749207,"subfield":{"id":"https://openalex.org/subfields/2211","display_name":"Mechanics of Materials"},"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/actuator","display_name":"Actuator","score":0.716179609298706},{"id":"https://openalex.org/keywords/variation","display_name":"Variation (astronomy)","score":0.6991946697235107},{"id":"https://openalex.org/keywords/subject","display_name":"Subject (documents)","score":0.47086086869239807},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.45044979453086853},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.44021591544151306},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.39465972781181335},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3787532448768616},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.36609429121017456},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.34538793563842773},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.162407785654068},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1587783396244049},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.12127900123596191},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11748960614204407}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.716179609298706},{"id":"https://openalex.org/C2778334786","wikidata":"https://www.wikidata.org/wiki/Q1586270","display_name":"Variation (astronomy)","level":2,"score":0.6991946697235107},{"id":"https://openalex.org/C2777855551","wikidata":"https://www.wikidata.org/wiki/Q12310021","display_name":"Subject (documents)","level":2,"score":0.47086086869239807},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.45044979453086853},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.44021591544151306},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.39465972781181335},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3787532448768616},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.36609429121017456},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.34538793563842773},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.162407785654068},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1587783396244049},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.12127900123596191},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11748960614204407},{"id":"https://openalex.org/C161191863","wikidata":"https://www.wikidata.org/wiki/Q199655","display_name":"Library science","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/C44870925","wikidata":"https://www.wikidata.org/wiki/Q37547","display_name":"Astrophysics","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2025.3592077","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3592077","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:HAL:hal-05175570v1","is_oa":true,"landing_page_url":"https://hal.science/hal-05175570","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"https://engage.ieee.org/Author-Center-Authors-Newsletter-Opt-in.html","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-05175570v1","is_oa":true,"landing_page_url":"https://hal.science/hal-05175570","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"https://engage.ieee.org/Author-Center-Authors-Newsletter-Opt-in.html","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[{"score":0.7099999785423279,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[{"id":"https://openalex.org/G1548874672","display_name":"Sliding-mode set-valued control and observation in finite and infinite dimensions: discretization","funder_award_id":"ANR-24-CE48-2771","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"},{"id":"https://openalex.org/G5006797459","display_name":"Reinventing prosthetics","funder_award_id":"ANR-22-EXOD-0002","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"}],"funders":[{"id":"https://openalex.org/F4320320883","display_name":"Agence Nationale de la Recherche","ror":"https://ror.org/00rbzpz17"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W23764068","https://openalex.org/W161276847","https://openalex.org/W1508040692","https://openalex.org/W1977872363","https://openalex.org/W1997813158","https://openalex.org/W2004111115","https://openalex.org/W2062308233","https://openalex.org/W2073407198","https://openalex.org/W2076420009","https://openalex.org/W2077804228","https://openalex.org/W2095745107","https://openalex.org/W2099441579","https://openalex.org/W2105601634","https://openalex.org/W2119063730","https://openalex.org/W2136605942","https://openalex.org/W2139025014","https://openalex.org/W2196056879","https://openalex.org/W2221119198","https://openalex.org/W2285847257","https://openalex.org/W2294251513","https://openalex.org/W2587945178","https://openalex.org/W2737156933","https://openalex.org/W2742589704","https://openalex.org/W2793248880","https://openalex.org/W2808934964","https://openalex.org/W2890784218","https://openalex.org/W2964732860","https://openalex.org/W2979830450","https://openalex.org/W2994954955","https://openalex.org/W3012542762","https://openalex.org/W3081636972","https://openalex.org/W3185913549","https://openalex.org/W4288436219","https://openalex.org/W4307446443","https://openalex.org/W4392004111","https://openalex.org/W4392819490","https://openalex.org/W4394574991","https://openalex.org/W6686384014","https://openalex.org/W6767875322"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W2386430105","https://openalex.org/W2356521405","https://openalex.org/W4388258507","https://openalex.org/W2038534795","https://openalex.org/W2384358604","https://openalex.org/W4234906596","https://openalex.org/W4229591372","https://openalex.org/W2071544734","https://openalex.org/W2000675896"],"abstract_inverted_index":{"Exoskeleton":[0],"robots":[1],"hold":[2],"great":[3,25],"potential":[4],"for":[5,81,148],"both":[6],"industrial":[7],"applications":[8],"and":[9,42,73,85,103,110,123,155,163],"assisting":[10],"patients":[11],"with":[12,134],"locomotor":[13],"disabilities.":[14],"Among":[15],"them,":[16],"flexible":[17,37],"exoskeletons,":[18],"known":[19],"as":[20,40],"\u201cexosuits\u201d,":[21],"have":[22],"attracted":[23],"a":[24,56,94,120,167],"deal":[26],"of":[27,36,44,71,97,139,166,178],"interest":[28],"from":[29,68],"researchers.":[30],"Those":[31],"are":[32,47,75],"usually":[33],"made":[34],"up":[35],"components":[38],"such":[39],"cables":[41],"pieces":[43],"fabric,":[45],"which":[46,113],"much":[48],"lighter":[49],"than":[50],"the":[51,62,69,83,91,101,107,115,131,135,140,149,176,179],"rigid":[52],"exoskeletons.":[53],"By":[54],"using":[55],"Bowden-cable":[57,98,150],"transmission":[58,79,99],"in":[59,125],"their":[60],"design,":[61],"actuators":[63],"can":[64],"be":[65],"placed":[66],"away":[67],"end-effectors":[70],"exosuits":[72],"thus":[74],"considered":[76],"an":[77],"effective":[78],"solution":[80],"reducing":[82],"weight":[84],"inertia":[86],"felt":[87],"by":[88,118],"operators":[89],"wearing":[90],"exosuit.":[92],"However,":[93],"critical":[95],"issue":[96],"is":[100,146],"complex":[102],"nonlinear":[104],"friction":[105,129],"between":[106],"inner":[108],"cable":[109,132],"outer":[111],"sheath,":[112],"affects":[114],"control":[116,143],"robustness":[117,164],"introducing":[119],"time":[121,161],"delay":[122],"inaccuracy":[124],"position":[126],"tracking.":[127],"Besides,":[128],"along":[130],"varies":[133],"accumulated":[136],"bending":[137,184],"angle":[138,185],"sheath.":[141],"A":[142],"synthesis":[144],"approach":[145],"proposed":[147,180],"actuation":[151],"system,":[152],"utilizing":[153],"twisting":[154],"super-twisting":[156],"algorithms":[157],"to":[158],"ensure":[159],"finite":[160],"stability":[162],"properties":[165],"perturbed":[168],"double-":[169],"integrator":[170],"model.":[171],"The":[172],"experimental":[173],"results":[174],"demonstrate":[175],"effectiveness":[177],"method":[181],"across":[182],"various":[183],"conditions.":[186]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
