{"id":"https://openalex.org/W2790503069","doi":"https://doi.org/10.1109/robio.2017.8324610","title":"Fuzzy impedance control based on a built-in torque sensor in harmonic drive gear","display_name":"Fuzzy impedance control based on a built-in torque sensor in harmonic drive gear","publication_year":2017,"publication_date":"2017-12-01","ids":{"openalex":"https://openalex.org/W2790503069","doi":"https://doi.org/10.1109/robio.2017.8324610","mag":"2790503069"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2017.8324610","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2017.8324610","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5058513130","display_name":"Xiaowei Tan","orcid":"https://orcid.org/0000-0003-0990-0323"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaowei Tan","raw_affiliation_strings":["Chinese Academy of Sciences, Shenyang Institute of Automation, Shenyang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences, Shenyang Institute of Automation, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074796500","display_name":"Yong Jiang","orcid":"https://orcid.org/0000-0001-7518-5810"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yong Jiang","raw_affiliation_strings":["Chinese Academy of Sciences, Shenyang Institute of Automation, Shenyang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences, Shenyang Institute of Automation, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110996400","display_name":"Yifeng Song","orcid":null},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yifeng Song","raw_affiliation_strings":["Chinese Academy of Sciences, Shenyang Institute of Automation, Shenyang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences, Shenyang Institute of Automation, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100604402","display_name":"Guowei Liu","orcid":"https://orcid.org/0000-0002-5461-3844"},"institutions":[{"id":"https://openalex.org/I74872605","display_name":"China Southern Power Grid (China)","ror":"https://ror.org/03hkh9419","country_code":"CN","type":"company","lineage":["https://openalex.org/I74872605"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guowei Liu","raw_affiliation_strings":["Shenzhen Power Grid Co. Ltd, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shenzhen Power Grid Co. Ltd, Shenzhen, China","institution_ids":["https://openalex.org/I74872605"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101183491","display_name":"Zhengguo Zhu","orcid":null},"institutions":[{"id":"https://openalex.org/I74872605","display_name":"China Southern Power Grid (China)","ror":"https://ror.org/03hkh9419","country_code":"CN","type":"company","lineage":["https://openalex.org/I74872605"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhengguo Zhu","raw_affiliation_strings":["Shenzhen Power Grid Co. Ltd, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shenzhen Power Grid Co. Ltd, Shenzhen, China","institution_ids":["https://openalex.org/I74872605"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.20413668,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"12","issue":null,"first_page":"1383","last_page":"1388"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9962999820709229,"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":0.9962999820709229,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.995199978351593,"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/T14011","display_name":"Elevator Systems and Control","score":0.9847000241279602,"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/impedance-control","display_name":"Impedance control","score":0.7853990793228149},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7656806111335754},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.715638279914856},{"id":"https://openalex.org/keywords/torque-ripple","display_name":"Torque ripple","score":0.5950826406478882},{"id":"https://openalex.org/keywords/damping-torque","display_name":"Damping torque","score":0.5316221117973328},{"id":"https://openalex.org/keywords/direct-torque-control","display_name":"Direct torque control","score":0.5187063813209534},{"id":"https://openalex.org/keywords/harmonic-drive","display_name":"Harmonic drive","score":0.4877772927284241},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4732804000377655},{"id":"https://openalex.org/keywords/fuzzy-control-system","display_name":"Fuzzy control system","score":0.465013325214386},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.44715970754623413},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.44568949937820435},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4213816225528717},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.4183817505836487},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.39704492688179016},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.38667571544647217},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1251060962677002},{"id":"https://openalex.org/keywords/induction-motor","display_name":"Induction motor","score":0.09002816677093506},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08292308449745178},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.07439196109771729},{"id":"https://openalex.org/keywords/voltage","display_name":"Voltage","score":0.07232195138931274},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.06163063645362854}],"concepts":[{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.7853990793228149},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7656806111335754},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.715638279914856},{"id":"https://openalex.org/C2779675184","wikidata":"https://www.wikidata.org/wiki/Q7826797","display_name":"Torque ripple","level":5,"score":0.5950826406478882},{"id":"https://openalex.org/C40226289","wikidata":"https://www.wikidata.org/wiki/Q5212950","display_name":"Damping torque","level":5,"score":0.5316221117973328},{"id":"https://openalex.org/C109871850","wikidata":"https://www.wikidata.org/wiki/Q1227571","display_name":"Direct torque control","level":4,"score":0.5187063813209534},{"id":"https://openalex.org/C2777105549","wikidata":"https://www.wikidata.org/wiki/Q751500","display_name":"Harmonic drive","level":2,"score":0.4877772927284241},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4732804000377655},{"id":"https://openalex.org/C195975749","wikidata":"https://www.wikidata.org/wiki/Q1475705","display_name":"Fuzzy control system","level":3,"score":0.465013325214386},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.44715970754623413},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44568949937820435},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4213816225528717},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.4183817505836487},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.39704492688179016},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.38667571544647217},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1251060962677002},{"id":"https://openalex.org/C80962145","wikidata":"https://www.wikidata.org/wiki/Q207450","display_name":"Induction motor","level":3,"score":0.09002816677093506},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08292308449745178},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.07439196109771729},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.07232195138931274},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.06163063645362854},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2017.8324610","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2017.8324610","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.5799999833106995}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W43529617","https://openalex.org/W1486892442","https://openalex.org/W1967377907","https://openalex.org/W2003273395","https://openalex.org/W2139566979","https://openalex.org/W2147538068","https://openalex.org/W2154192606","https://openalex.org/W2159266046","https://openalex.org/W2168944337","https://openalex.org/W2438255111","https://openalex.org/W4253990853","https://openalex.org/W6629194773"],"related_works":["https://openalex.org/W2594177041","https://openalex.org/W2345244343","https://openalex.org/W2107398868","https://openalex.org/W2379878679","https://openalex.org/W2349217415","https://openalex.org/W2366500548","https://openalex.org/W2384844834","https://openalex.org/W43529617","https://openalex.org/W4390807180","https://openalex.org/W3133153217"],"abstract_inverted_index":{"To":[0],"meet":[1],"the":[2,68,105,110,115,135,140],"intrinsically":[3],"safe":[4],"demands":[5],"for":[6,60],"joint":[7,11,141],"torque":[8,18,25,39,142,148],"measuring":[9,19,143],"and":[10,47,77,104,107,122,137,150],"compliance":[12],"in":[13,27,49,114,145],"collaborative":[14],"manipulator":[15],"(co-manipulator),":[16],"a":[17,23,50,74],"method":[20,144],"by":[21,67,98,124],"using":[22],"built-in":[24],"sensor":[26,149],"harmonic":[28],"drive":[29],"gear":[30],"(HDG)":[31],"has":[32],"been":[33],"improved.":[34],"Based":[35],"on":[36,131],"that":[37],"novel":[38,147],"sensor,":[40],"fuzzy":[41,99],"impedance":[42,91,112,152],"control":[43,92,113,153],"strategy":[44],"is":[45,65,83,102],"proposed":[46,111],"tested":[48],"physical":[51,132],"experiment":[52],"prototype":[53,133],"as":[54],"well.":[55],"In":[56],"this":[57,87,146],"paper,":[58],"aiming":[59],"period-varying":[61],"ripple":[62],"interference,":[63],"which":[64],"caused":[66],"intrinsic":[69],"properties":[70],"of":[71,109,139],"HDG's":[72],"flexspline,":[73],"highly":[75],"real-time":[76],"precise":[78],"online":[79],"Kalman":[80],"filter":[81],"algorithm":[82],"designed":[84],"to":[85],"mitigate":[86],"problem.":[88],"Besides,":[89],"an":[90],"strategy,":[93],"whose":[94],"parameters":[95],"are":[96,120],"modified":[97],"controller":[100],"online,":[101],"proposed,":[103],"rapidity":[106],"stability":[108],"interaction":[116],"with":[117],"unstructured":[118],"environment":[119],"improved":[121],"proved":[123],"observing":[125],"simulation":[126],"data.":[127],"The":[128],"experiments'":[129],"results":[130],"show":[134],"feasibility":[136],"effectiveness":[138],"parameter-varying":[151],"strategy.":[154]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
