{"id":"https://openalex.org/W7131131124","doi":"https://doi.org/10.1109/robio66223.2025.11376037","title":"A Low-Cost Position Sensing Solution for Miniature Joints in Biomimetic Robots","display_name":"A Low-Cost Position Sensing Solution for Miniature Joints in Biomimetic Robots","publication_year":2025,"publication_date":"2025-12-03","ids":{"openalex":"https://openalex.org/W7131131124","doi":"https://doi.org/10.1109/robio66223.2025.11376037"},"language":null,"primary_location":{"id":"doi:10.1109/robio66223.2025.11376037","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio66223.2025.11376037","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5050553504","display_name":"Qiaoman Zhu","orcid":"https://orcid.org/0000-0002-6363-7709"},"institutions":[{"id":"https://openalex.org/I4210124917","display_name":"JAC Motors (China)","ror":"https://ror.org/02ztwrd91","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210124917"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Qiaoman Zhu","raw_affiliation_strings":["Jianghuai Advance Technology Center,Hefei,Anhui,China,230000"],"affiliations":[{"raw_affiliation_string":"Jianghuai Advance Technology Center,Hefei,Anhui,China,230000","institution_ids":["https://openalex.org/I4210124917"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5123817592","display_name":"Jianyin Tang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210124917","display_name":"JAC Motors (China)","ror":"https://ror.org/02ztwrd91","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210124917"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianyin Tang","raw_affiliation_strings":["Jianghuai Advance Technology Center,Hefei,Anhui,China,230000"],"affiliations":[{"raw_affiliation_string":"Jianghuai Advance Technology Center,Hefei,Anhui,China,230000","institution_ids":["https://openalex.org/I4210124917"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126636397","display_name":"Mingguang Dai","orcid":null},"institutions":[{"id":"https://openalex.org/I4210124917","display_name":"JAC Motors (China)","ror":"https://ror.org/02ztwrd91","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210124917"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingguang Dai","raw_affiliation_strings":["Jianghuai Advance Technology Center,Hefei,Anhui,China,230000"],"affiliations":[{"raw_affiliation_string":"Jianghuai Advance Technology Center,Hefei,Anhui,China,230000","institution_ids":["https://openalex.org/I4210124917"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110778299","display_name":"Bin Lan","orcid":null},"institutions":[{"id":"https://openalex.org/I4210124917","display_name":"JAC Motors (China)","ror":"https://ror.org/02ztwrd91","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210124917"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bin Lan","raw_affiliation_strings":["Jianghuai Advance Technology Center,Hefei,Anhui,China,230000"],"affiliations":[{"raw_affiliation_string":"Jianghuai Advance Technology Center,Hefei,Anhui,China,230000","institution_ids":["https://openalex.org/I4210124917"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5126595798","display_name":"Kun Xu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210124917","display_name":"JAC Motors (China)","ror":"https://ror.org/02ztwrd91","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210124917"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kun Xu","raw_affiliation_strings":["Jianghuai Advance Technology Center,Hefei,Anhui,China,230000"],"affiliations":[{"raw_affiliation_string":"Jianghuai Advance Technology Center,Hefei,Anhui,China,230000","institution_ids":["https://openalex.org/I4210124917"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5050553504"],"corresponding_institution_ids":["https://openalex.org/I4210124917"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.63443766,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2006","last_page":"2011"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.11760000139474869,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.11760000139474869,"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/T10868","display_name":"Soft Robotics and Applications","score":0.11150000244379044,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.09239999949932098,"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/angular-displacement","display_name":"Angular displacement","score":0.5964999794960022},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5295000076293945},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.49470001459121704},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.4932999908924103},{"id":"https://openalex.org/keywords/signal","display_name":"SIGNAL (programming language)","score":0.44749999046325684},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.43619999289512634},{"id":"https://openalex.org/keywords/interpolation","display_name":"Interpolation (computer graphics)","score":0.4147999882698059},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.4002000093460083},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.3978999853134155},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.37790000438690186}],"concepts":[{"id":"https://openalex.org/C108439606","wikidata":"https://www.wikidata.org/wiki/Q3305038","display_name":"Angular displacement","level":2,"score":0.5964999794960022},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5295000076293945},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.49470001459121704},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.4932999908924103},{"id":"https://openalex.org/C2779843651","wikidata":"https://www.wikidata.org/wiki/Q7390335","display_name":"SIGNAL (programming language)","level":2,"score":0.44749999046325684},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4422000050544739},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.43619999289512634},{"id":"https://openalex.org/C137800194","wikidata":"https://www.wikidata.org/wiki/Q11713455","display_name":"Interpolation (computer graphics)","level":3,"score":0.4147999882698059},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.4002000093460083},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.3978999853134155},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.38760000467300415},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.37790000438690186},{"id":"https://openalex.org/C84462506","wikidata":"https://www.wikidata.org/wiki/Q173142","display_name":"Digital signal processing","level":2,"score":0.3630000054836273},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3456000089645386},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.34130001068115234},{"id":"https://openalex.org/C104267543","wikidata":"https://www.wikidata.org/wiki/Q208163","display_name":"Signal processing","level":3,"score":0.3391999900341034},{"id":"https://openalex.org/C107551265","wikidata":"https://www.wikidata.org/wiki/Q1458245","display_name":"Displacement (psychology)","level":2,"score":0.33489999175071716},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.3240000009536743},{"id":"https://openalex.org/C16389437","wikidata":"https://www.wikidata.org/wiki/Q11421","display_name":"Magnet","level":2,"score":0.319599986076355},{"id":"https://openalex.org/C44280652","wikidata":"https://www.wikidata.org/wiki/Q104837","display_name":"Phase (matter)","level":2,"score":0.3158999979496002},{"id":"https://openalex.org/C102248274","wikidata":"https://www.wikidata.org/wiki/Q168388","display_name":"Adaptive filter","level":2,"score":0.30320000648498535},{"id":"https://openalex.org/C173018170","wikidata":"https://www.wikidata.org/wiki/Q165678","display_name":"Microcontroller","level":2,"score":0.30160000920295715},{"id":"https://openalex.org/C180205008","wikidata":"https://www.wikidata.org/wiki/Q159190","display_name":"Amplitude","level":2,"score":0.2996000051498413},{"id":"https://openalex.org/C24326235","wikidata":"https://www.wikidata.org/wiki/Q126095","display_name":"Electronic engineering","level":1,"score":0.29899999499320984},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.28220000863075256},{"id":"https://openalex.org/C2776266606","wikidata":"https://www.wikidata.org/wiki/Q476482","display_name":"Test bench","level":2,"score":0.28040000796318054},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.275299996137619},{"id":"https://openalex.org/C163985040","wikidata":"https://www.wikidata.org/wiki/Q1172399","display_name":"Data acquisition","level":2,"score":0.27079999446868896},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.26579999923706055},{"id":"https://openalex.org/C2776126113","wikidata":"https://www.wikidata.org/wiki/Q1128980","display_name":"Industrial robot","level":3,"score":0.2653000056743622},{"id":"https://openalex.org/C80055088","wikidata":"https://www.wikidata.org/wiki/Q205451","display_name":"Propeller","level":2,"score":0.26190000772476196},{"id":"https://openalex.org/C2776003309","wikidata":"https://www.wikidata.org/wiki/Q1988072","display_name":"Adaptive algorithm","level":2,"score":0.2612999975681305},{"id":"https://openalex.org/C2776221269","wikidata":"https://www.wikidata.org/wiki/Q572648","display_name":"Pickup","level":3,"score":0.2572999894618988},{"id":"https://openalex.org/C115260700","wikidata":"https://www.wikidata.org/wiki/Q11408","display_name":"Magnetic field","level":2,"score":0.25369998812675476}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio66223.2025.11376037","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio66223.2025.11376037","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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":26,"referenced_works":["https://openalex.org/W2038855593","https://openalex.org/W2279434744","https://openalex.org/W2615878647","https://openalex.org/W2761283867","https://openalex.org/W2774113808","https://openalex.org/W2899493999","https://openalex.org/W2921439995","https://openalex.org/W2951269785","https://openalex.org/W2982401892","https://openalex.org/W3035102742","https://openalex.org/W3144873095","https://openalex.org/W3159407446","https://openalex.org/W3169610371","https://openalex.org/W3216881077","https://openalex.org/W4205233614","https://openalex.org/W4312851216","https://openalex.org/W4376481213","https://openalex.org/W4381436892","https://openalex.org/W4383109179","https://openalex.org/W4400188737","https://openalex.org/W4403909696","https://openalex.org/W4405286451","https://openalex.org/W4411484144","https://openalex.org/W4411950165","https://openalex.org/W4417484702","https://openalex.org/W6963873690"],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,21,93,108],"low-cost":[4],"and":[5,31,50,63,79,103,120,131,152,157],"high-precision":[6,94],"position":[7],"sensing":[8],"solution":[9,143],"for":[10,118,160],"biomimetic":[11,162],"robotic":[12],"joints.":[13],"The":[14,40,141],"system":[15,124],"measures":[16],"the":[17,123],"magnetic":[18,104],"field":[19],"of":[20],"radially":[22],"magnetized":[23],"ring":[24],"using":[25,112],"two":[26],"orthogonal":[27],"linear":[28],"Hall":[29],"sensors":[30],"performs":[32],"complete":[33],"angle":[34],"computation":[35],"on":[36,107],"an":[37,126,145],"embedded":[38],"MCU.":[39],"processing":[41],"chain":[42],"includes":[43],"signal":[44],"calibration,":[45],"arctangent":[46],"decoding,":[47],"adaptive":[48,73],"filtering,":[49],"look-up":[51],"table":[52],"compensation.":[53],"An":[54],"elliptical":[55],"correction":[56],"model":[57],"compensates":[58],"sensor":[59],"offset,":[60],"amplitude":[61],"imbalance,":[62],"phase":[64],"error.":[65],"A":[66,86],"hybrid":[67],"Kalman-EWMA":[68],"filter":[69],"is":[70],"applied":[71],"with":[72,92,135],"switching":[74],"to":[75],"balance":[76,147],"dynamic":[77],"response":[78,150],"noise":[80],"suppression":[81],"under":[82],"varying":[83],"operating":[84],"conditions.":[85],"bidirectional":[87],"interpolation":[88],"compensation":[89],"method,":[90],"calibrated":[91],"reference":[95],"encoder,":[96],"further":[97],"corrects":[98],"nonlinear":[99],"errors":[100],"from":[101],"assembly":[102],"interference.":[105],"Implemented":[106],"180":[109],"MHz":[110],"MCU":[111],"its":[113],"integrated":[114],"dual":[115],"12-bit":[116],"ADCs":[117],"acquisition":[119],"real-time":[121],"processing,":[122],"achieves":[125],"angular":[127],"error":[128],"within":[129],"\u00b10.5\u00b0":[130],"supports":[132],"10kHz":[133],"output":[134],"less":[136],"than":[137],"15":[138],"\u03bcs":[139],"delay.":[140],"proposed":[142],"offers":[144],"effective":[146],"among":[148],"accuracy,":[149],"speed,":[151],"cost,":[153],"demonstrating":[154],"robustness,":[155],"reliability,":[156],"practical":[158],"suitability":[159],"compact":[161],"joint":[163],"applications.":[164]},"counts_by_year":[],"updated_date":"2026-02-25T06:17:34.324206","created_date":"2026-02-24T00:00:00"}