{"id":"https://openalex.org/W4385236282","doi":"https://doi.org/10.1109/med59994.2023.10185853","title":"System Identification of an elastomeric series elastic actuator using black-box models","display_name":"System Identification of an elastomeric series elastic actuator using black-box models","publication_year":2023,"publication_date":"2023-06-26","ids":{"openalex":"https://openalex.org/W4385236282","doi":"https://doi.org/10.1109/med59994.2023.10185853"},"language":"en","primary_location":{"id":"doi:10.1109/med59994.2023.10185853","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/med59994.2023.10185853","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 31st Mediterranean Conference on Control and Automation (MED)","raw_type":"proceedings-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/A5003022445","display_name":"Diogo Lopes Fernandes","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Diogo Lopes Fernandes","raw_affiliation_strings":["Pontif&#x00ED;cia Universidade Cat&#x00F3;lica do Rio de Janeiro,Department of Mechanical Engineering,Rio de Janeiro,Brazil"],"affiliations":[{"raw_affiliation_string":"Pontif&#x00ED;cia Universidade Cat&#x00F3;lica do Rio de Janeiro,Department of Mechanical Engineering,Rio de Janeiro,Brazil","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045977445","display_name":"Felipe Rebelo Lopes","orcid":"https://orcid.org/0000-0003-2135-4855"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Felipe R. Lopes","raw_affiliation_strings":["Pontif&#x00ED;cia Universidade Cat&#x00F3;lica do Rio de Janeiro,Department of Mechanical Engineering,Rio de Janeiro,Brazil"],"affiliations":[{"raw_affiliation_string":"Pontif&#x00ED;cia Universidade Cat&#x00F3;lica do Rio de Janeiro,Department of Mechanical Engineering,Rio de Janeiro,Brazil","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104200033","display_name":"Antonio Weiller Corr\u00eaa do Lago","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Antonio W. C. Do Lago","raw_affiliation_strings":["Pontif&#x00ED;cia Universidade Cat&#x00F3;lica do Rio de Janeiro,Department of Mechanical Engineering,Rio de Janeiro,Brazil"],"affiliations":[{"raw_affiliation_string":"Pontif&#x00ED;cia Universidade Cat&#x00F3;lica do Rio de Janeiro,Department of Mechanical Engineering,Rio de Janeiro,Brazil","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003868467","display_name":"Daniel Henrique Braz de Sousa","orcid":"https://orcid.org/0000-0002-5117-7645"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Daniel H. Braz de Sousa","raw_affiliation_strings":["Pontif&#x00ED;cia Universidade Cat&#x00F3;lica do Rio de Janeiro,Department of Mechanical Engineering,Rio de Janeiro,Brazil"],"affiliations":[{"raw_affiliation_string":"Pontif&#x00ED;cia Universidade Cat&#x00F3;lica do Rio de Janeiro,Department of Mechanical Engineering,Rio de Janeiro,Brazil","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009333775","display_name":"Marco Ant\u00f4nio Meggiolaro","orcid":"https://orcid.org/0000-0002-6240-8189"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Marco A. Meggiolaro","raw_affiliation_strings":["Pontif&#x00ED;cia Universidade Cat&#x00F3;lica do Rio de Janeiro,Department of Mechanical Engineering,Rio de Janeiro,Brazil"],"affiliations":[{"raw_affiliation_string":"Pontif&#x00ED;cia Universidade Cat&#x00F3;lica do Rio de Janeiro,Department of Mechanical Engineering,Rio de Janeiro,Brazil","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032061545","display_name":"Helon Vicente Hultmann Ayala","orcid":"https://orcid.org/0000-0001-5406-3902"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Helon V. Hultmann Ayala","raw_affiliation_strings":["Pontif&#x00ED;cia Universidade Cat&#x00F3;lica do Rio de Janeiro,Department of Mechanical Engineering,Rio de Janeiro,Brazil"],"affiliations":[{"raw_affiliation_string":"Pontif&#x00ED;cia Universidade Cat&#x00F3;lica do Rio de Janeiro,Department of Mechanical Engineering,Rio de Janeiro,Brazil","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5003022445"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.5319,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.59953374,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":"2","issue":null,"first_page":"569","last_page":"574"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9922000169754028,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9922000169754028,"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/T13644","display_name":"Control Systems in Engineering","score":0.9868999719619751,"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/T10534","display_name":"Structural Health Monitoring Techniques","score":0.9858999848365784,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/mean-squared-error","display_name":"Mean squared error","score":0.6259046792984009},{"id":"https://openalex.org/keywords/system-identification","display_name":"System identification","score":0.6003279089927673},{"id":"https://openalex.org/keywords/nonlinear-autoregressive-exogenous-model","display_name":"Nonlinear autoregressive exogenous model","score":0.5546372532844543},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5153669714927673},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.4843767583370209},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.47718489170074463},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4766308069229126},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.47396013140678406},{"id":"https://openalex.org/keywords/estimation-theory","display_name":"Estimation theory","score":0.44738319516181946},{"id":"https://openalex.org/keywords/series","display_name":"Series (stratigraphy)","score":0.4456496834754944},{"id":"https://openalex.org/keywords/root-mean-square","display_name":"Root mean square","score":0.42652827501296997},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4178903102874756},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.30423039197921753},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2567482590675354},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.24142703413963318},{"id":"https://openalex.org/keywords/data-modeling","display_name":"Data modeling","score":0.24057573080062866},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23775476217269897},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.2329961061477661},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.14968934655189514},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10688343644142151},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09415873885154724}],"concepts":[{"id":"https://openalex.org/C139945424","wikidata":"https://www.wikidata.org/wiki/Q1940696","display_name":"Mean squared error","level":2,"score":0.6259046792984009},{"id":"https://openalex.org/C119247159","wikidata":"https://www.wikidata.org/wiki/Q1366192","display_name":"System identification","level":3,"score":0.6003279089927673},{"id":"https://openalex.org/C42536954","wikidata":"https://www.wikidata.org/wiki/Q7049462","display_name":"Nonlinear autoregressive exogenous model","level":3,"score":0.5546372532844543},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5153669714927673},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.4843767583370209},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.47718489170074463},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4766308069229126},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.47396013140678406},{"id":"https://openalex.org/C167928553","wikidata":"https://www.wikidata.org/wiki/Q1376021","display_name":"Estimation theory","level":2,"score":0.44738319516181946},{"id":"https://openalex.org/C143724316","wikidata":"https://www.wikidata.org/wiki/Q312468","display_name":"Series (stratigraphy)","level":2,"score":0.4456496834754944},{"id":"https://openalex.org/C71907059","wikidata":"https://www.wikidata.org/wiki/Q223323","display_name":"Root mean square","level":2,"score":0.42652827501296997},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4178903102874756},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.30423039197921753},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2567482590675354},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.24142703413963318},{"id":"https://openalex.org/C67186912","wikidata":"https://www.wikidata.org/wiki/Q367664","display_name":"Data modeling","level":2,"score":0.24057573080062866},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23775476217269897},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.2329961061477661},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.14968934655189514},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10688343644142151},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09415873885154724},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C59822182","wikidata":"https://www.wikidata.org/wiki/Q441","display_name":"Botany","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/med59994.2023.10185853","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/med59994.2023.10185853","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 31st Mediterranean Conference on Control and Automation (MED)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5899999737739563,"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W2077464937","https://openalex.org/W2181523240","https://openalex.org/W2219773511","https://openalex.org/W2582033547","https://openalex.org/W2983710221","https://openalex.org/W3025681674","https://openalex.org/W3032813070","https://openalex.org/W3089648597","https://openalex.org/W3204484374","https://openalex.org/W3211966807","https://openalex.org/W4200439488","https://openalex.org/W4205434286","https://openalex.org/W4205833754","https://openalex.org/W6670130233"],"related_works":["https://openalex.org/W4285110051","https://openalex.org/W2170265234","https://openalex.org/W2386800195","https://openalex.org/W1596927848","https://openalex.org/W2089373901","https://openalex.org/W2418118948","https://openalex.org/W2022486812","https://openalex.org/W2081976245","https://openalex.org/W4310846262","https://openalex.org/W4291817696"],"abstract_inverted_index":{"Flexible":[0],"manipulators":[1],"are":[2,29],"the":[3,7,21,40,84,89,93,99,111,115,123],"core":[4],"technology":[5],"for":[6],"development":[8],"of":[9,26,36,43,48,92],"collaborative":[10],"robotic":[11],"systems,":[12],"which":[13],"is":[14,51],"a":[15,77],"trend":[16],"in":[17],"Industrial":[18],"Robotics.":[19],"Hence,":[20],"system":[22],"and":[23,55,103,114,133],"parameter":[24],"identification":[25],"these":[27,44],"systems":[28],"important":[30],"to":[31,52,83,138],"develop":[32],"more":[33],"accurate":[34],"strategies":[35],"control":[37],"based":[38,62],"on":[39,63],"dynamic":[41],"behavior":[42],"joints.":[45],"The":[46,66,86,95,118],"purpose":[47],"this":[49],"paper":[50],"build":[53],"linear":[54],"nonlinear":[56],"auto-regressive":[57],"models":[58,96,124],"with":[59,72,128],"exogenous":[60],"inputs":[61],"experimental":[64,74],"data.":[65],"data":[67],"set":[68],"used":[69],"was":[70,88,108],"collected":[71],"an":[73,129,134],"setup":[75],"using":[76,110],"multi-sine":[78],"torque":[79],"input":[80],"signal":[81],"applied":[82],"motor.":[85],"output":[87],"angular":[90],"velocity":[91],"link.":[94],"employed":[97],"were":[98],"ARX,":[100],"ARMAX,":[101],"NARMAX,":[102],"NARX-NN.":[104],"Futhermore,":[105],"their":[106],"performance":[107],"measured":[109],"root-mean-squared":[112],"error":[113],"R<sup>2</sup>":[116,131],"score.":[117],"results":[119],"show":[120],"that":[121],"all":[122],"presented":[125],"good":[126],"performance,":[127],"acceptable":[130],"score":[132],"RMSE":[135],"value":[136],"close":[137],"each":[139],"other.":[140]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2}],"updated_date":"2025-12-24T23:09:58.560324","created_date":"2025-10-10T00:00:00"}
