{"id":"https://openalex.org/W2593776234","doi":"https://doi.org/10.1109/robio.2016.7866490","title":"An integral sliding-mode control approach for series elastic actuator torque control","display_name":"An integral sliding-mode control approach for series elastic actuator torque control","publication_year":2016,"publication_date":"2016-12-01","ids":{"openalex":"https://openalex.org/W2593776234","doi":"https://doi.org/10.1109/robio.2016.7866490","mag":"2593776234"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2016.7866490","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2016.7866490","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5100726954","display_name":"Weichao Sun","orcid":"https://orcid.org/0000-0001-6837-3821"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weichao Sun","raw_affiliation_strings":["Institute of Robotics and Automatic Information System, Nankai University, Tianjin","Tianjin Key Laboratory of Intelligent Robotics"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Automatic Information System, Nankai University, Tianjin","institution_ids":["https://openalex.org/I205237279"]},{"raw_affiliation_string":"Tianjin Key Laboratory of Intelligent Robotics","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021631382","display_name":"Lei Sun","orcid":"https://orcid.org/0000-0002-8886-9012"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lei Sun","raw_affiliation_strings":["Institute of Robotics and Automatic Information System, Nankai University, Tianjin","Tianjin Key Laboratory of Intelligent Robotics"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Automatic Information System, Nankai University, Tianjin","institution_ids":["https://openalex.org/I205237279"]},{"raw_affiliation_string":"Tianjin Key Laboratory of Intelligent Robotics","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100693187","display_name":"Meng Wang","orcid":"https://orcid.org/0000-0001-6555-5558"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Meng Wang","raw_affiliation_strings":["Institute of Robotics and Automatic Information System, Nankai University, Tianjin","Tianjin Key Laboratory of Intelligent Robotics"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Automatic Information System, Nankai University, Tianjin","institution_ids":["https://openalex.org/I205237279"]},{"raw_affiliation_string":"Tianjin Key Laboratory of Intelligent Robotics","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065666040","display_name":"Lei Songqi","orcid":null},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Songqi Lei","raw_affiliation_strings":["Institute of Robotics and Automatic Information System, Nankai University, Tianjin","Tianjin Key Laboratory of Intelligent Robotics"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Automatic Information System, Nankai University, Tianjin","institution_ids":["https://openalex.org/I205237279"]},{"raw_affiliation_string":"Tianjin Key Laboratory of Intelligent Robotics","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5030233306","display_name":"Jingtai Liu","orcid":"https://orcid.org/0000-0003-2645-5655"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jingtai Liu","raw_affiliation_strings":["Institute of Robotics and Automatic Information System, Nankai University, Tianjin","Tianjin Key Laboratory of Intelligent Robotics"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Automatic Information System, Nankai University, Tianjin","institution_ids":["https://openalex.org/I205237279"]},{"raw_affiliation_string":"Tianjin Key Laboratory of Intelligent Robotics","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I205237279"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.30411728,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"2","issue":null,"first_page":"1209","last_page":"1214"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9998000264167786,"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":0.9998000264167786,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9925000071525574,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.979200005531311,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.9211663007736206},{"id":"https://openalex.org/keywords/integral-sliding-mode","display_name":"Integral sliding mode","score":0.8836528062820435},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7758699655532837},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6979131698608398},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6908062100410461},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.573041558265686},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5018200874328613},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49356400966644287},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.4922091066837311},{"id":"https://openalex.org/keywords/series","display_name":"Series (stratigraphy)","score":0.43492063879966736},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.40770965814590454},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.31499677896499634},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27873244881629944},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.18138781189918518},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.15847501158714294},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14995026588439941},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.05632287263870239}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.9211663007736206},{"id":"https://openalex.org/C2778132902","wikidata":"https://www.wikidata.org/wiki/Q6042725","display_name":"Integral sliding mode","level":4,"score":0.8836528062820435},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7758699655532837},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6979131698608398},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6908062100410461},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.573041558265686},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5018200874328613},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49356400966644287},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.4922091066837311},{"id":"https://openalex.org/C143724316","wikidata":"https://www.wikidata.org/wiki/Q312468","display_name":"Series (stratigraphy)","level":2,"score":0.43492063879966736},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.40770965814590454},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.31499677896499634},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27873244881629944},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.18138781189918518},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.15847501158714294},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14995026588439941},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.05632287263870239},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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},{"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robio.2016.7866490","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2016.7866490","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},{"id":"mag:2747334286","is_oa":false,"landing_page_url":"http://jglobal.jst.go.jp/en/public/20090422/201702255489227309","pdf_url":null,"source":{"id":"https://openalex.org/S4306512817","display_name":"IEEE Conference Proceedings","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":"IEEE Conference Proceedings","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","score":0.8700000047683716,"display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W74807133","https://openalex.org/W1528316309","https://openalex.org/W1980387813","https://openalex.org/W1987361672","https://openalex.org/W1990866293","https://openalex.org/W2001413209","https://openalex.org/W2019088383","https://openalex.org/W2031909678","https://openalex.org/W2048383675","https://openalex.org/W2072859516","https://openalex.org/W2096826446","https://openalex.org/W2106981506","https://openalex.org/W2111253117","https://openalex.org/W2116767351","https://openalex.org/W2120675177","https://openalex.org/W2126728198","https://openalex.org/W2128137193","https://openalex.org/W2136715573","https://openalex.org/W2145595735","https://openalex.org/W2147288676","https://openalex.org/W2166230296","https://openalex.org/W2204074139","https://openalex.org/W2292334126","https://openalex.org/W2293200354","https://openalex.org/W2348940036"],"related_works":["https://openalex.org/W1979692063","https://openalex.org/W3101820272","https://openalex.org/W4292702743","https://openalex.org/W2726654316","https://openalex.org/W2899899983","https://openalex.org/W2388459438","https://openalex.org/W2021587409","https://openalex.org/W4384821980","https://openalex.org/W2165744821","https://openalex.org/W1496250982"],"abstract_inverted_index":{"In":[0,26],"this":[1],"paper,":[2],"an":[3,45],"integral":[4,46],"sliding-mode":[5,47],"control(ISMC)":[6],"approach":[7],"for":[8],"the":[9,21,28,52,63,68,80],"SEA":[10,32],"torque":[11],"control":[12],"is":[13,17,34,49,59],"presented.":[14],"The":[15],"controller":[16,48,82],"efficient":[18],"even":[19],"in":[20],"presence":[22],"of":[23,31,54,67],"external":[24],"disturbances.":[25,97],"particular,":[27],"general":[29],"dynamics":[30],"system":[33],"described":[35],"and":[36,43,65,73,89],"some":[37,56],"model":[38],"transformation":[39],"operations":[40],"are":[41,76],"performed,":[42],"then":[44],"designed,":[50],"on":[51],"basis":[53],"which":[55],"theoretical":[57],"analysis":[58],"implemented":[60],"to":[61,78,95],"show":[62],"stability":[64],"boundedness":[66],"closed-loop":[69],"signals.":[70],"Both":[71],"simulation":[72],"experimental":[74],"results":[75],"included":[77],"demonstrate":[79],"designed":[81],"achieves":[83],"improved":[84],"performance":[85],"than":[86],"existing":[87],"method":[88],"shows":[90],"strong":[91],"robustness":[92],"with":[93],"respect":[94],"extraneous":[96]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}