{"id":"https://openalex.org/W3007648459","doi":"https://doi.org/10.1109/robosoft48309.2020.9116031","title":"Nonlinearity Compensation in A Multi-DoF Shoulder Sensing Exosuit For Real-Time Teleoperation","display_name":"Nonlinearity Compensation in A Multi-DoF Shoulder Sensing Exosuit For Real-Time Teleoperation","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3007648459","doi":"https://doi.org/10.1109/robosoft48309.2020.9116031","mag":"3007648459"},"language":"en","primary_location":{"id":"doi:10.1109/robosoft48309.2020.9116031","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft48309.2020.9116031","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 3rd IEEE International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2002.09195","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5056676179","display_name":"Rejin John Varghese","orcid":"https://orcid.org/0000-0002-1553-2144"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Rejin John Varghese","raw_affiliation_strings":["Institute for Global Health Innovation, Imperial College,The Hamlyn Centre,London,UK","Imperial College London"],"affiliations":[{"raw_affiliation_string":"Institute for Global Health Innovation, Imperial College,The Hamlyn Centre,London,UK","institution_ids":["https://openalex.org/I47508984"]},{"raw_affiliation_string":"Imperial College London","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104831694","display_name":"Anh Nguyen","orcid":"https://orcid.org/0000-0002-9794-597X"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Anh Nguyen","raw_affiliation_strings":["Institute for Global Health Innovation, Imperial College,The Hamlyn Centre,London,UK"],"affiliations":[{"raw_affiliation_string":"Institute for Global Health Innovation, Imperial College,The Hamlyn Centre,London,UK","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025807459","display_name":"Etienne Burdet","orcid":"https://orcid.org/0000-0002-2123-0185"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Etienne Burdet","raw_affiliation_strings":["Imperial College,Department of Bioengineering,London,UK","Imperial College Department of Bioengineering London UK"],"affiliations":[{"raw_affiliation_string":"Imperial College,Department of Bioengineering,London,UK","institution_ids":["https://openalex.org/I47508984"]},{"raw_affiliation_string":"Imperial College Department of Bioengineering London UK","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085036036","display_name":"Guang\u2010Zhong Yang","orcid":"https://orcid.org/0000-0003-4060-4020"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guang-Zhong Yang","raw_affiliation_strings":["Institute of Medical Robotics, Shanghai Jiao Tong University,China","Institute of Medical Robotics, Shanghai Jiao Tong University, China"],"affiliations":[{"raw_affiliation_string":"Institute of Medical Robotics, Shanghai Jiao Tong University,China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"Institute of Medical Robotics, Shanghai Jiao Tong University, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063187094","display_name":"Benny Lo","orcid":"https://orcid.org/0000-0002-5080-108X"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Benny P L Lo","raw_affiliation_strings":["Institute for Global Health Innovation, Imperial College,The Hamlyn Centre,London,UK"],"affiliations":[{"raw_affiliation_string":"Institute for Global Health Innovation, Imperial College,The Hamlyn Centre,London,UK","institution_ids":["https://openalex.org/I47508984"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5056676179"],"corresponding_institution_ids":["https://openalex.org/I47508984"],"apc_list":null,"apc_paid":null,"fwci":0.2604,"has_fulltext":true,"cited_by_count":4,"citation_normalized_percentile":{"value":0.49659541,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"668","last_page":"675"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9993000030517578,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9993000030517578,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9976999759674072,"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":0.9900000095367432,"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/teleoperation","display_name":"Teleoperation","score":0.8722164630889893},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6717321872711182},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.5398430824279785},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5107975006103516},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5082401633262634},{"id":"https://openalex.org/keywords/wearable-computer","display_name":"Wearable computer","score":0.4625048041343689},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.45381587743759155},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.39788633584976196},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3554612994194031},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21797427535057068},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12566214799880981}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.8722164630889893},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6717321872711182},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.5398430824279785},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5107975006103516},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5082401633262634},{"id":"https://openalex.org/C150594956","wikidata":"https://www.wikidata.org/wiki/Q1334829","display_name":"Wearable computer","level":2,"score":0.4625048041343689},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.45381587743759155},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.39788633584976196},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3554612994194031},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21797427535057068},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12566214799880981},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/robosoft48309.2020.9116031","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft48309.2020.9116031","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 3rd IEEE International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2002.09195","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2002.09195","pdf_url":"https://arxiv.org/pdf/2002.09195","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:spiral.imperial.ac.uk:10044/1/88044","is_oa":false,"landing_page_url":"http://hdl.handle.net/10044/1/88044","pdf_url":null,"source":{"id":"https://openalex.org/S4306401396","display_name":"Spiral (Imperial College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I47508984","host_organization_name":"Imperial College London","host_organization_lineage":["https://openalex.org/I47508984"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"3rd IEEE International Conference on Soft Robotics (RoboSoft)","raw_type":"Conference Paper"},{"id":"doi:10.48550/arxiv.2002.09195","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2002.09195","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"},{"id":"mag:3007648459","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":null}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2002.09195","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2002.09195","pdf_url":"https://arxiv.org/pdf/2002.09195","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.800000011920929}],"awards":[],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3007648459.pdf","grobid_xml":"https://content.openalex.org/works/W3007648459.grobid-xml"},"referenced_works_count":40,"referenced_works":["https://openalex.org/W1492075388","https://openalex.org/W1496425442","https://openalex.org/W1522301498","https://openalex.org/W1523513542","https://openalex.org/W1966639710","https://openalex.org/W1984160222","https://openalex.org/W1998162807","https://openalex.org/W2002161214","https://openalex.org/W2005496007","https://openalex.org/W2021255024","https://openalex.org/W2033483527","https://openalex.org/W2047522426","https://openalex.org/W2054326469","https://openalex.org/W2054628872","https://openalex.org/W2055548088","https://openalex.org/W2064675550","https://openalex.org/W2070510586","https://openalex.org/W2096347511","https://openalex.org/W2126663592","https://openalex.org/W2130281033","https://openalex.org/W2138217099","https://openalex.org/W2139986293","https://openalex.org/W2147376995","https://openalex.org/W2150620143","https://openalex.org/W2572646513","https://openalex.org/W2742199125","https://openalex.org/W2744612599","https://openalex.org/W2767908949","https://openalex.org/W2864403454","https://openalex.org/W2874729531","https://openalex.org/W2885878610","https://openalex.org/W2894507820","https://openalex.org/W2924113821","https://openalex.org/W2966055147","https://openalex.org/W2977043487","https://openalex.org/W2979464955","https://openalex.org/W2997997572","https://openalex.org/W3011819854","https://openalex.org/W6631190155","https://openalex.org/W6760721115"],"related_works":["https://openalex.org/W3035768711","https://openalex.org/W2968407298","https://openalex.org/W3198181114","https://openalex.org/W2892120334","https://openalex.org/W3198984374","https://openalex.org/W3214570657","https://openalex.org/W2896978180","https://openalex.org/W3211107505","https://openalex.org/W2750784048","https://openalex.org/W2491474674","https://openalex.org/W3130189191","https://openalex.org/W3008109267","https://openalex.org/W3176926256","https://openalex.org/W24213536","https://openalex.org/W2084591374","https://openalex.org/W3153886240","https://openalex.org/W1906114020","https://openalex.org/W3011219268","https://openalex.org/W3134916898","https://openalex.org/W3128180318"],"abstract_inverted_index":{"The":[0,89,117],"compliant":[1,69],"nature":[2,70],"of":[3,14,26,53,71,119],"soft":[4,67],"wearable":[5,28],"robots":[6,29],"makes":[7],"them":[8],"ideal":[9],"for":[10,45],"complex":[11],"multiple":[12],"degrees":[13],"freedom":[15],"(DoF)":[16],"joints,":[17],"but":[18],"also":[19],"introduce":[20],"additional":[21],"structural":[22],"nonlinearities.":[23,37,57],"Intuitive":[24],"control":[25],"these":[27],"requires":[30],"robust":[31],"sensing":[32],"to":[33,65,80,85],"overcome":[34,59],"the":[35,55,60,66,72,82,86,94],"inherent":[36,64],"This":[38],"paper":[39],"presents":[40],"a":[41,46,76,103,113,132],"joint":[42,87],"kinematics":[43],"estimator":[44],"bio-inspired":[47],"multi-":[48],"DoF":[49],"shoulder":[50],"exosuit":[51,122],"capable":[52],"compensating":[54],"encountered":[56],"To":[58],"nonlinearities":[61],"and":[62,68,123],"hysteresis":[63],"suit,":[73],"we":[74],"developed":[75],"deep":[77],"learning-based":[78,96],"method":[79],"map":[81],"sensor":[83],"data":[84],"space.":[88],"experimental":[90],"results":[91],"show":[92],"that":[93],"new":[95],"framework":[97,125],"outperforms":[98],"recent":[99],"state-of-the-art":[100],"methods":[101],"by":[102],"large":[104],"margin":[105],"while":[106],"achieving":[107],"12ms":[108],"inference":[109],"time":[110],"using":[111],"only":[112],"GPU-based":[114],"edge-computing":[115],"device.":[116],"effectiveness":[118],"our":[120],"combined":[121],"learning":[124],"is":[126],"demonstrated":[127],"through":[128],"real-time":[129],"teleoperation":[130],"with":[131],"simulated":[133],"NAO":[134],"humanoid":[135],"robot.":[136]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2020,"cited_by_count":3}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}