{"id":"https://openalex.org/W4320027742","doi":"https://doi.org/10.1109/robio55434.2022.10011901","title":"Axial compression intrinsic sensing of continuum robot based on elastic modulus on-line estimation","display_name":"Axial compression intrinsic sensing of continuum robot based on elastic modulus on-line estimation","publication_year":2022,"publication_date":"2022-12-05","ids":{"openalex":"https://openalex.org/W4320027742","doi":"https://doi.org/10.1109/robio55434.2022.10011901"},"language":"en","primary_location":{"id":"doi:10.1109/robio55434.2022.10011901","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/robio55434.2022.10011901","pdf_url":null,"source":{"id":"https://openalex.org/S4363607789","display_name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 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/A5009737625","display_name":"AnFan Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]},{"id":"https://openalex.org/I4210114105","display_name":"Tsinghua\u2013Berkeley Shenzhen Institute","ror":"https://ror.org/02hhwwz98","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210114105","https://openalex.org/I95457486","https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"AnFan Zhang","raw_affiliation_strings":["Tsinghua Shenzhen International Graduate School, Tsinghua University,Shenzhen,China,518055"],"affiliations":[{"raw_affiliation_string":"Tsinghua Shenzhen International Graduate School, Tsinghua University,Shenzhen,China,518055","institution_ids":["https://openalex.org/I4210114105","https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064391626","display_name":"XueQian Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210114105","display_name":"Tsinghua\u2013Berkeley Shenzhen Institute","ror":"https://ror.org/02hhwwz98","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210114105","https://openalex.org/I95457486","https://openalex.org/I99065089"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"XueQian Wang","raw_affiliation_strings":["Tsinghua Shenzhen International Graduate School, Tsinghua University,Shenzhen,China,518055"],"affiliations":[{"raw_affiliation_string":"Tsinghua Shenzhen International Graduate School, Tsinghua University,Shenzhen,China,518055","institution_ids":["https://openalex.org/I4210114105","https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100644630","display_name":"Bin Liang","orcid":"https://orcid.org/0000-0002-8591-8843"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]},{"id":"https://openalex.org/I4210114105","display_name":"Tsinghua\u2013Berkeley Shenzhen Institute","ror":"https://ror.org/02hhwwz98","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210114105","https://openalex.org/I95457486","https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bin Liang","raw_affiliation_strings":["Tsinghua Shenzhen International Graduate School, Tsinghua University,Shenzhen,China,518055"],"affiliations":[{"raw_affiliation_string":"Tsinghua Shenzhen International Graduate School, Tsinghua University,Shenzhen,China,518055","institution_ids":["https://openalex.org/I4210114105","https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100765837","display_name":"Zhiheng Li","orcid":"https://orcid.org/0000-0002-1523-1114"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"ZhiHeng Li","raw_affiliation_strings":["Tsinghua University,Navigation and Control Researcher Center,Department of Automation,Beijing,China,100084"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Navigation and Control Researcher Center,Department of Automation,Beijing,China,100084","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5009737625"],"corresponding_institution_ids":["https://openalex.org/I4210114105","https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":0.3206,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.55612553,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"20","issue":null,"first_page":"439","last_page":"444"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9980999827384949,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9980999827384949,"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/T11551","display_name":"Infective Endocarditis Diagnosis and Management","score":0.9416999816894531,"subfield":{"id":"https://openalex.org/subfields/2713","display_name":"Epidemiology"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.9225000143051147,"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/compression","display_name":"Compression (physics)","score":0.5518348217010498},{"id":"https://openalex.org/keywords/nickel-titanium","display_name":"Nickel titanium","score":0.5347594022750854},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5235276222229004},{"id":"https://openalex.org/keywords/continuum-mechanics","display_name":"Continuum mechanics","score":0.5234985947608948},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5119775533676147},{"id":"https://openalex.org/keywords/modulus","display_name":"Modulus","score":0.48931095004081726},{"id":"https://openalex.org/keywords/elastic-modulus","display_name":"Elastic modulus","score":0.47997212409973145},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.4458664655685425},{"id":"https://openalex.org/keywords/mechanics","display_name":"Mechanics","score":0.41179192066192627},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.37967056035995483},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3631255626678467},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.33683788776397705},{"id":"https://openalex.org/keywords/shape-memory-alloy","display_name":"Shape-memory alloy","score":0.32259705662727356},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.25669533014297485},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.1935272216796875},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.16755759716033936},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15542978048324585},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1518867313861847}],"concepts":[{"id":"https://openalex.org/C180016635","wikidata":"https://www.wikidata.org/wiki/Q2712821","display_name":"Compression (physics)","level":2,"score":0.5518348217010498},{"id":"https://openalex.org/C160798091","wikidata":"https://www.wikidata.org/wiki/Q5459028","display_name":"Nickel titanium","level":3,"score":0.5347594022750854},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5235276222229004},{"id":"https://openalex.org/C84035572","wikidata":"https://www.wikidata.org/wiki/Q193463","display_name":"Continuum mechanics","level":2,"score":0.5234985947608948},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5119775533676147},{"id":"https://openalex.org/C193867417","wikidata":"https://www.wikidata.org/wiki/Q6889814","display_name":"Modulus","level":2,"score":0.48931095004081726},{"id":"https://openalex.org/C43486711","wikidata":"https://www.wikidata.org/wiki/Q192005","display_name":"Elastic modulus","level":2,"score":0.47997212409973145},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.4458664655685425},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.41179192066192627},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.37967056035995483},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3631255626678467},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.33683788776397705},{"id":"https://openalex.org/C49097943","wikidata":"https://www.wikidata.org/wiki/Q898455","display_name":"Shape-memory alloy","level":2,"score":0.32259705662727356},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.25669533014297485},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.1935272216796875},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.16755759716033936},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15542978048324585},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1518867313861847}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio55434.2022.10011901","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/robio55434.2022.10011901","pdf_url":null,"source":{"id":"https://openalex.org/S4363607789","display_name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 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/16","display_name":"Peace, Justice and strong institutions","score":0.6600000262260437}],"awards":[{"id":"https://openalex.org/G2265996673","display_name":null,"funder_award_id":"U1813216","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1966692579","https://openalex.org/W1970083153","https://openalex.org/W1980663843","https://openalex.org/W1993208109","https://openalex.org/W2001803686","https://openalex.org/W2009002643","https://openalex.org/W2040553713","https://openalex.org/W2057785338","https://openalex.org/W2147492425","https://openalex.org/W2168395540","https://openalex.org/W2562881420","https://openalex.org/W2594276447","https://openalex.org/W2663063359","https://openalex.org/W2774676248","https://openalex.org/W2809121112","https://openalex.org/W2816488237","https://openalex.org/W2901506159","https://openalex.org/W2921221990","https://openalex.org/W2937885510","https://openalex.org/W2966892768","https://openalex.org/W3008124124","https://openalex.org/W3008974801","https://openalex.org/W3014323852","https://openalex.org/W3021937872","https://openalex.org/W3034342612","https://openalex.org/W3036879711","https://openalex.org/W3123507309","https://openalex.org/W3182331417"],"related_works":["https://openalex.org/W2924725649","https://openalex.org/W2385384698","https://openalex.org/W1575260103","https://openalex.org/W3158632378","https://openalex.org/W2394412003","https://openalex.org/W4327555413","https://openalex.org/W2410036361","https://openalex.org/W1989043416","https://openalex.org/W2770903585","https://openalex.org/W3035961541"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"an":[3,55],"axial":[4,133,147,158,176],"compression":[5,42,134,177],"intrinsic":[6,135,173],"sensing":[7,62,136,174],"algorithm":[8],"of":[9,23,31,43,64,78,92,99,106,113,131,145,160,172,175,181],"the":[10,59,75,79,85,90,100,104,114,129,132,142,157,170,179],"primary":[11],"backbone":[12,45],"for":[13,88,155,165],"continuum":[14,65,80,101,161],"robot":[15,66,81,102,162],"using":[16,67],"superelastic":[17,24],"NiTi":[18,25],"backbones.":[19,73],"The":[20,111,149],"elastic":[21,69,115],"limit":[22],"is":[26,46,82,122],"much":[27],"larger":[28],"than":[29,97],"that":[30],"ordinary":[32],"materials,":[33],"and":[34,49,84],"it":[35],"no":[36],"longer":[37],"obeys":[38],"Hooke's":[39],"law.":[40],"Axial":[41],"pri-mary":[44],"extremely":[47],"small":[48],"has":[50],"been":[51],"found":[52],"to":[53,140],"have":[54],"important":[56],"impact":[57],"on":[58],"external":[60,107],"force":[61],"accuracy":[63],"super":[68],"nickel":[70],"titanium":[71],"alloy":[72],"Firstly,":[74],"dynamic":[76],"model":[77],"revised":[83],"general":[86],"formula":[87],"estimating":[89],"tension":[91],"multiple":[93],"driving":[94,184],"cables":[95],"(more":[96],"3)":[98],"in":[103,178],"presence":[105],"forces":[108],"are":[109],"given.":[110],"value":[112],"modulus":[116],"estimated":[117,143],"online":[118],"by":[119],"quasi-static":[120],"conditions":[121],"used":[123],"with":[124],"other":[125],"generalized":[126],"coordinates":[127],"as":[128,139],"input":[130],"algorithm,":[137],"so":[138],"obtain":[141],"result":[144],"real-time":[146],"compression.":[148],"method":[150],"provides":[151],"a":[152],"feasible":[153],"path":[154],"predicting":[156],"deformation":[159],"while":[163],"allowing":[164],"fast":[166],"computation.":[167],"Experiments":[168],"present":[169],"results":[171],"cases":[180],"three":[182],"different":[183],"forces.":[185]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2025-12-23T23:11:35.936235","created_date":"2025-10-10T00:00:00"}