{"id":"https://openalex.org/W7106294941","doi":"https://doi.org/10.1109/lra.2025.3635450","title":"A Model Reference Friction Observer for Friction Compensation and Shaping in Interaction Control","display_name":"A Model Reference Friction Observer for Friction Compensation and Shaping in Interaction Control","publication_year":2025,"publication_date":"2025-11-21","ids":{"openalex":"https://openalex.org/W7106294941","doi":"https://doi.org/10.1109/lra.2025.3635450"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2025.3635450","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3635450","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":null,"display_name":"Eldison Dimo","orcid":"https://orcid.org/0000-0002-5937-9698"},"institutions":[{"id":"https://openalex.org/I119439378","display_name":"University of Verona","ror":"https://ror.org/039bp8j42","country_code":"IT","type":"education","lineage":["https://openalex.org/I119439378"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Eldison Dimo","raw_affiliation_strings":["Department of Engineering for Innovation Medicine, University of Verona, Verona, Italy"],"raw_orcid":"https://orcid.org/0000-0002-5937-9698","affiliations":[{"raw_affiliation_string":"Department of Engineering for Innovation Medicine, University of Verona, Verona, Italy","institution_ids":["https://openalex.org/I119439378"]}]},{"author_position":"last","author":{"id":null,"display_name":"Andrea Calanca","orcid":"https://orcid.org/0000-0001-9664-4721"},"institutions":[{"id":"https://openalex.org/I119439378","display_name":"University of Verona","ror":"https://ror.org/039bp8j42","country_code":"IT","type":"education","lineage":["https://openalex.org/I119439378"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Andrea Calanca","raw_affiliation_strings":["Department of Engineering for Innovation Medicine, University of Verona, Verona, Italy"],"raw_orcid":"https://orcid.org/0000-0001-9664-4721","affiliations":[{"raw_affiliation_string":"Department of Engineering for Innovation Medicine, University of Verona, Verona, Italy","institution_ids":["https://openalex.org/I119439378"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I119439378"],"apc_list":null,"apc_paid":null,"fwci":0.3587,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.58911864,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"11","issue":"2","first_page":"1658","last_page":"1665"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.8694999814033508,"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":0.8694999814033508,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.07000000029802322,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.008899999782443047,"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":0.8277999758720398},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7935000061988831},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.728600025177002},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.565500020980835},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.49410000443458557},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.46959999203681946},{"id":"https://openalex.org/keywords/reliability","display_name":"Reliability (semiconductor)","score":0.44699999690055847}],"concepts":[{"id":"https://openalex.org/C2778809601","wikidata":"https://www.wikidata.org/wiki/Q1045736","display_name":"Passivity","level":2,"score":0.8277999758720398},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7935000061988831},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.728600025177002},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.565500020980835},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.49410000443458557},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.46959999203681946},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.44699999690055847},{"id":"https://openalex.org/C2987713562","wikidata":"https://www.wikidata.org/wiki/Q82580","display_name":"Static friction","level":2,"score":0.439300000667572},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4284000098705292},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.41929998993873596},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.41749998927116394},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.41499999165534973},{"id":"https://openalex.org/C110339231","wikidata":"https://www.wikidata.org/wiki/Q2143425","display_name":"Stiction","level":3,"score":0.4083000123500824},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3646000027656555},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.3386000096797943},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.323199987411499},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.31709998846054077},{"id":"https://openalex.org/C119247159","wikidata":"https://www.wikidata.org/wiki/Q1366192","display_name":"System identification","level":3,"score":0.28119999170303345}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3635450","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3635450","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1535570778","https://openalex.org/W1602498161","https://openalex.org/W1881298966","https://openalex.org/W1892855372","https://openalex.org/W1991926214","https://openalex.org/W2014520440","https://openalex.org/W2017432759","https://openalex.org/W2030032605","https://openalex.org/W2038925750","https://openalex.org/W2064364553","https://openalex.org/W2096323098","https://openalex.org/W2102279668","https://openalex.org/W2103229768","https://openalex.org/W2109869870","https://openalex.org/W2111253117","https://openalex.org/W2137165191","https://openalex.org/W2139548710","https://openalex.org/W2145645651","https://openalex.org/W2163045813","https://openalex.org/W2166271005","https://openalex.org/W2169025967","https://openalex.org/W2178332255","https://openalex.org/W2293200354","https://openalex.org/W2312703239","https://openalex.org/W2783054423","https://openalex.org/W2891383218","https://openalex.org/W2898608685","https://openalex.org/W2946277373","https://openalex.org/W3087472644","https://openalex.org/W3182846349","https://openalex.org/W4220898084","https://openalex.org/W4283311522","https://openalex.org/W4391384745"],"related_works":[],"abstract_inverted_index":{"Friction":[0],"phenomena":[1],"may":[2],"significantly":[3],"deteriorate":[4],"the":[5,68,74,83],"performance":[6],"and":[7,17,27,42,77,94,118],"reliability":[8],"of":[9,92],"force-controlled":[10],"systems.":[11],"Despite":[12],"existing":[13],"solutions,":[14],"achieving":[15],"accurate":[16,39],"robust":[18],"friction":[19,40,43,78,93],"compensation":[20,41],"is":[21,55,114],"challenging":[22],"due":[23],"to":[24],"model":[25,50],"inaccuracies":[26],"parameter":[28],"identification":[29],"issues.":[30],"This":[31,80],"paper":[32],"proposes":[33],"a":[34,48,56,105],"force":[35,101],"control":[36],"architecture":[37,85],"with":[38,98,108],"shaping":[44],"capabilities,":[45],"based":[46],"on":[47],"novel":[49],"reference":[51],"approach.":[52],"Since":[53],"passivity":[54,72],"fundamental":[57],"requirement":[58],"for":[59,89],"interaction":[60,107],"control,":[61,76],"this":[62],"work":[63],"investigates":[64],"under":[65],"which":[66],"conditions":[67],"proposed":[69,84],"approach":[70,113],"preserves":[71],"at":[73],"environment,":[75],"ports.":[79],"implies":[81],"that":[82],"can":[86,95],"passively":[87],"compensate":[88],"any":[90,99,109],"type":[91],"be":[96],"combined":[97],"passive":[100,110],"controller":[102],"while":[103],"guaranteeing":[104],"stable":[106],"environment.":[111],"The":[112],"validated":[115],"using":[116],"simulation":[117],"experimental":[119],"trials.":[120]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-07-29T09:40:50.615796","created_date":"2025-11-23T00:00:00"}