{"id":"https://openalex.org/W1976269466","doi":"https://doi.org/10.1109/robio.2011.6181721","title":"Tracking control with hysteresis compensation for manipulator segments driven by pneumatic artificial muscles","display_name":"Tracking control with hysteresis compensation for manipulator segments driven by pneumatic artificial muscles","publication_year":2011,"publication_date":"2011-12-01","ids":{"openalex":"https://openalex.org/W1976269466","doi":"https://doi.org/10.1109/robio.2011.6181721","mag":"1976269466"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2011.6181721","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2011.6181721","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Biomimetics","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/A5056322606","display_name":"Frank Schreiber","orcid":"https://orcid.org/0000-0002-9484-8613"},"institutions":[{"id":"https://openalex.org/I94509681","display_name":"Technische Universit\u00e4t Braunschweig","ror":"https://ror.org/010nsgg66","country_code":"DE","type":"education","lineage":["https://openalex.org/I94509681"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Frank Schreiber","raw_affiliation_strings":["Institute of Control Engineering, Technische Universit\u00e4at Braunschweig, Brunswick, Germany","Institute of Control Engineering, Technische Universit\u00e4t Braunschweig, 38106 Braunschweig, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Control Engineering, Technische Universit\u00e4at Braunschweig, Brunswick, Germany","institution_ids":["https://openalex.org/I94509681"]},{"raw_affiliation_string":"Institute of Control Engineering, Technische Universit\u00e4t Braunschweig, 38106 Braunschweig, Germany","institution_ids":["https://openalex.org/I94509681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019545078","display_name":"Yevgen Sklyarenko","orcid":null},"institutions":[{"id":"https://openalex.org/I94509681","display_name":"Technische Universit\u00e4t Braunschweig","ror":"https://ror.org/010nsgg66","country_code":"DE","type":"education","lineage":["https://openalex.org/I94509681"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Yevgen Sklyarenko","raw_affiliation_strings":["Institute of Control Engineering, Technische Universit\u00e4at Braunschweig, Brunswick, Germany","Institute of Control Engineering, Technische Universit\u00e4t Braunschweig, 38106 Braunschweig, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Control Engineering, Technische Universit\u00e4at Braunschweig, Brunswick, Germany","institution_ids":["https://openalex.org/I94509681"]},{"raw_affiliation_string":"Institute of Control Engineering, Technische Universit\u00e4t Braunschweig, 38106 Braunschweig, Germany","institution_ids":["https://openalex.org/I94509681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068116019","display_name":"Kathrin Schl\u00fcter","orcid":"https://orcid.org/0000-0001-8772-2847"},"institutions":[{"id":"https://openalex.org/I94509681","display_name":"Technische Universit\u00e4t Braunschweig","ror":"https://ror.org/010nsgg66","country_code":"DE","type":"education","lineage":["https://openalex.org/I94509681"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Kathrin Schluter","raw_affiliation_strings":["Institute of Machine Tools and Production Technology, Technische Universit\u00e4at Braunschweig, Brunswick, Germany","Institute of Machine Tools and Production Technology, Technische Universit\u00e4t Braunschweig, 38106 Braunschweig, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Machine Tools and Production Technology, Technische Universit\u00e4at Braunschweig, Brunswick, Germany","institution_ids":["https://openalex.org/I94509681"]},{"raw_affiliation_string":"Institute of Machine Tools and Production Technology, Technische Universit\u00e4t Braunschweig, 38106 Braunschweig, Germany","institution_ids":["https://openalex.org/I94509681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007692293","display_name":"Jan Schmitt","orcid":"https://orcid.org/0000-0003-4537-7680"},"institutions":[{"id":"https://openalex.org/I94509681","display_name":"Technische Universit\u00e4t Braunschweig","ror":"https://ror.org/010nsgg66","country_code":"DE","type":"education","lineage":["https://openalex.org/I94509681"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jan Schmitt","raw_affiliation_strings":["Institute of Machine Tools and Production Technology, Technische Universit\u00e4at Braunschweig, Brunswick, Germany","Institute of Machine Tools and Production Technology, Technische Universit\u00e4t Braunschweig, 38106 Braunschweig, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Machine Tools and Production Technology, Technische Universit\u00e4at Braunschweig, Brunswick, Germany","institution_ids":["https://openalex.org/I94509681"]},{"raw_affiliation_string":"Institute of Machine Tools and Production Technology, Technische Universit\u00e4t Braunschweig, 38106 Braunschweig, Germany","institution_ids":["https://openalex.org/I94509681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027597623","display_name":"Sven Rost","orcid":null},"institutions":[{"id":"https://openalex.org/I70764802","display_name":"National Polytechnic School","ror":"https://ror.org/01gb99w41","country_code":"EC","type":"education","lineage":["https://openalex.org/I70764802"]},{"id":"https://openalex.org/I75645747","display_name":"Donetsk National Technical University","ror":"https://ror.org/00whe2089","country_code":"UA","type":"education","lineage":["https://openalex.org/I75645747"]}],"countries":["EC","UA"],"is_corresponding":false,"raw_author_name":"Sven Rost","raw_affiliation_strings":["Department of Control Systems and Mechatronics, Donetsk National Technical University, Donetsk, Ukraine","National Technical University Donetsk, Department of Control Systems and Mechatronics, 83000 Donetsk, Ukraine"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Control Systems and Mechatronics, Donetsk National Technical University, Donetsk, Ukraine","institution_ids":["https://openalex.org/I75645747"]},{"raw_affiliation_string":"National Technical University Donetsk, Department of Control Systems and Mechatronics, 83000 Donetsk, Ukraine","institution_ids":["https://openalex.org/I70764802"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032319988","display_name":"Annika Raatz","orcid":"https://orcid.org/0000-0002-1697-1907"},"institutions":[{"id":"https://openalex.org/I94509681","display_name":"Technische Universit\u00e4t Braunschweig","ror":"https://ror.org/010nsgg66","country_code":"DE","type":"education","lineage":["https://openalex.org/I94509681"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Annika Raatz","raw_affiliation_strings":["Institute of Machine Tools and Production Technology, Technische Universit\u00e4at Braunschweig, Brunswick, Germany","Institute of Machine Tools and Production Technology, Technische Universit\u00e4t Braunschweig, 38106 Braunschweig, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Machine Tools and Production Technology, Technische Universit\u00e4at Braunschweig, Brunswick, Germany","institution_ids":["https://openalex.org/I94509681"]},{"raw_affiliation_string":"Institute of Machine Tools and Production Technology, Technische Universit\u00e4t Braunschweig, 38106 Braunschweig, Germany","institution_ids":["https://openalex.org/I94509681"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009036019","display_name":"Walter Schumacher","orcid":"https://orcid.org/0000-0003-3738-1815"},"institutions":[{"id":"https://openalex.org/I94509681","display_name":"Technische Universit\u00e4t Braunschweig","ror":"https://ror.org/010nsgg66","country_code":"DE","type":"education","lineage":["https://openalex.org/I94509681"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Walter Schumacher","raw_affiliation_strings":["Institute of Control Engineering, Technische Universit\u00e4at Braunschweig, Brunswick, Germany","Institute of Control Engineering, Technische Universit\u00e4t Braunschweig, 38106 Braunschweig, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Control Engineering, Technische Universit\u00e4at Braunschweig, Brunswick, Germany","institution_ids":["https://openalex.org/I94509681"]},{"raw_affiliation_string":"Institute of Control Engineering, Technische Universit\u00e4t Braunschweig, 38106 Braunschweig, Germany","institution_ids":["https://openalex.org/I94509681"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.2942,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.78967734,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"2750","last_page":"2755"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9977999925613403,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9977999925613403,"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/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9970999956130981,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9897000193595886,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8581299781799316},{"id":"https://openalex.org/keywords/feed-forward","display_name":"Feed forward","score":0.795098066329956},{"id":"https://openalex.org/keywords/hysteresis","display_name":"Hysteresis","score":0.6338337659835815},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6287689805030823},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5727101564407349},{"id":"https://openalex.org/keywords/pneumatic-artificial-muscles","display_name":"Pneumatic artificial muscles","score":0.5328655242919922},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.5323629379272461},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4694651663303375},{"id":"https://openalex.org/keywords/artificial-muscle","display_name":"Artificial muscle","score":0.463013619184494},{"id":"https://openalex.org/keywords/signal","display_name":"SIGNAL (programming language)","score":0.45285916328430176},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.43748319149017334},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.42031794786453247},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.38140565156936646},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3165730834007263},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2992175817489624},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.20657125115394592},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.17875224351882935},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09468862414360046}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8581299781799316},{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.795098066329956},{"id":"https://openalex.org/C123299182","wikidata":"https://www.wikidata.org/wiki/Q190837","display_name":"Hysteresis","level":2,"score":0.6338337659835815},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6287689805030823},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5727101564407349},{"id":"https://openalex.org/C2778313331","wikidata":"https://www.wikidata.org/wiki/Q2317989","display_name":"Pneumatic artificial muscles","level":4,"score":0.5328655242919922},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.5323629379272461},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4694651663303375},{"id":"https://openalex.org/C196628372","wikidata":"https://www.wikidata.org/wiki/Q4801090","display_name":"Artificial muscle","level":3,"score":0.463013619184494},{"id":"https://openalex.org/C2779843651","wikidata":"https://www.wikidata.org/wiki/Q7390335","display_name":"SIGNAL (programming language)","level":2,"score":0.45285916328430176},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.43748319149017334},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.42031794786453247},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.38140565156936646},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3165730834007263},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2992175817489624},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.20657125115394592},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.17875224351882935},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09468862414360046},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","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},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2011.6181721","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2011.6181721","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Biomimetics","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W38868731","https://openalex.org/W211888945","https://openalex.org/W1577705380","https://openalex.org/W1593545036","https://openalex.org/W2010500688","https://openalex.org/W2016121092","https://openalex.org/W2035878607","https://openalex.org/W2044888126","https://openalex.org/W2065170173","https://openalex.org/W2075315063","https://openalex.org/W2085548694","https://openalex.org/W2112386487","https://openalex.org/W2136867044","https://openalex.org/W2140341964","https://openalex.org/W2156378823","https://openalex.org/W2161842963","https://openalex.org/W2162352279","https://openalex.org/W2199545737","https://openalex.org/W3147685306","https://openalex.org/W4210869525","https://openalex.org/W6634566664"],"related_works":["https://openalex.org/W2162848954","https://openalex.org/W91770536","https://openalex.org/W2020912483","https://openalex.org/W2742397931","https://openalex.org/W2066967876","https://openalex.org/W2360194697","https://openalex.org/W1573724835","https://openalex.org/W2131445915","https://openalex.org/W4239148269","https://openalex.org/W2808757576"],"abstract_inverted_index":{"In":[0],"this":[1,64,125],"paper":[2],"a":[3,10,15,50,76,86,119,132,156],"feedforward":[4,133],"control":[5,65,147],"structure":[6,66],"is":[7,61,100],"introduced":[8],"for":[9,56],"manipulator":[11,42],"joint":[12,30,97],"driven":[13],"by":[14,118,155],"symmetrical":[16],"arrangement":[17],"of":[18,27,124],"two":[19],"antagonistic":[20],"muscles.":[21],"The":[22,122],"setup":[23],"allows":[24,67],"the":[25,28,35,41,45,53,57,70,81,89,92,95,104,111,137,143,151],"specification":[26],"desired":[29,93],"angle,":[31],"as":[32,34,131,148],"well":[33],"single":[36,51,77],"muscle":[37,78],"forces.":[38],"Based":[39],"upon":[40],"kinematic":[43],"and":[44,94],"inverse":[46,123],"static":[47,138],"relation":[48,74,90],"in":[49,75,88,145],"muscle,":[52],"pressure":[54],"signal":[55],"muscles'":[58,82],"supplying":[59],"valves":[60],"calculated.":[62],"Applying":[63],"to":[68,108,135,150],"compensate":[69,136],"nonlinear":[71],"characteristic":[72],"mean":[73],"actuator,":[79],"while":[80],"hysteretic":[83,113,139],"behavior":[84,114],"introduces":[85],"hysteresis":[87],"between":[91],"actual":[96],"angles.":[98],"It":[99],"shown,":[101],"that":[102],"if":[103],"muscles":[105],"are":[106],"subject":[107],"comparable":[109],"forces":[110],"resulting":[112],"can":[115,127],"be":[116,129],"described":[117],"Preisach":[120],"model.":[121],"model":[126],"then":[128],"applied":[130],"term":[134],"behavior.":[140],"Experiments":[141],"confirm":[142],"improvement":[144],"tracking":[146],"compared":[149],"system":[152],"solely":[153],"controlled":[154],"feedback":[157],"regulator.":[158]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}