{"id":"https://openalex.org/W4411019165","doi":"https://doi.org/10.1109/robosoft63089.2025.11020938","title":"High Frequency Agonist-Antagonist Controller for Shape Memory Alloy Actuators","display_name":"High Frequency Agonist-Antagonist Controller for Shape Memory Alloy Actuators","publication_year":2025,"publication_date":"2025-04-22","ids":{"openalex":"https://openalex.org/W4411019165","doi":"https://doi.org/10.1109/robosoft63089.2025.11020938"},"language":"en","primary_location":{"id":"doi:10.1109/robosoft63089.2025.11020938","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft63089.2025.11020938","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 8th International Conference on Soft Robotics (RoboSoft)","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/A5039328080","display_name":"Carmen Ballester","orcid":"https://orcid.org/0000-0001-6098-8880"},"institutions":[{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Carmen Ballester","raw_affiliation_strings":["University Carlos III of Madrid,Department of Systems Engineering and Automation,Leganés,Spain"],"affiliations":[{"raw_affiliation_string":"University Carlos III of Madrid,Department of Systems Engineering and Automation,Leganés,Spain","institution_ids":["https://openalex.org/I50357001"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103344258","display_name":"V\u00edctor Mu\u00f1oz","orcid":"https://orcid.org/0000-0001-7511-2021"},"institutions":[{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"V\u00edctor Mu\u00f1oz","raw_affiliation_strings":["University Carlos III of Madrid,Department of Systems Engineering and Automation,Leganés,Spain"],"affiliations":[{"raw_affiliation_string":"University Carlos III of Madrid,Department of Systems Engineering and Automation,Leganés,Spain","institution_ids":["https://openalex.org/I50357001"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048336494","display_name":"Dorin Copaci","orcid":"https://orcid.org/0000-0002-3070-0994"},"institutions":[{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Dorin Copaci","raw_affiliation_strings":["University Carlos III of Madrid,Department of Systems Engineering and Automation,Leganés,Spain"],"affiliations":[{"raw_affiliation_string":"University Carlos III of Madrid,Department of Systems Engineering and Automation,Leganés,Spain","institution_ids":["https://openalex.org/I50357001"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028039528","display_name":"Lu\u00eds Moreno","orcid":"https://orcid.org/0000-0002-4450-680X"},"institutions":[{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Luis Moreno","raw_affiliation_strings":["University Carlos III of Madrid,Department of Systems Engineering and Automation,Leganés,Spain"],"affiliations":[{"raw_affiliation_string":"University Carlos III of Madrid,Department of Systems Engineering and Automation,Leganés,Spain","institution_ids":["https://openalex.org/I50357001"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5007484595","display_name":"Dolores Blanco","orcid":"https://orcid.org/0000-0001-6300-5165"},"institutions":[{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Dolores Blanco","raw_affiliation_strings":["University Carlos III of Madrid,Department of Systems Engineering and Automation,Leganés,Spain"],"affiliations":[{"raw_affiliation_string":"University Carlos III of Madrid,Department of Systems Engineering and Automation,Leganés,Spain","institution_ids":["https://openalex.org/I50357001"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5039328080"],"corresponding_institution_ids":["https://openalex.org/I50357001"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.10644773,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"7"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10865","display_name":"Shape Memory Alloy Transformations","score":0.9945999979972839,"subfield":{"id":"https://openalex.org/subfields/2505","display_name":"Materials Chemistry"},"field":{"id":"https://openalex.org/fields/25","display_name":"Materials Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10865","display_name":"Shape Memory Alloy Transformations","score":0.9945999979972839,"subfield":{"id":"https://openalex.org/subfields/2505","display_name":"Materials Chemistry"},"field":{"id":"https://openalex.org/fields/25","display_name":"Materials Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9652000069618225,"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9452999830245972,"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/agonist","display_name":"Agonist","score":0.6413853168487549},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5895467400550842},{"id":"https://openalex.org/keywords/antagonist","display_name":"Antagonist","score":0.5763601064682007},{"id":"https://openalex.org/keywords/shape-memory-alloy","display_name":"Shape-memory alloy","score":0.5355349183082581},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4867677688598633},{"id":"https://openalex.org/keywords/alloy","display_name":"Alloy","score":0.467338889837265},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3974820077419281},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.35946935415267944},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.32653146982192993},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15584540367126465},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.14670252799987793},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.08798235654830933},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08456310629844666},{"id":"https://openalex.org/keywords/receptor","display_name":"Receptor","score":0.07418695092201233},{"id":"https://openalex.org/keywords/internal-medicine","display_name":"Internal medicine","score":0.06566199660301208}],"concepts":[{"id":"https://openalex.org/C2778938600","wikidata":"https://www.wikidata.org/wiki/Q389934","display_name":"Agonist","level":3,"score":0.6413853168487549},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5895467400550842},{"id":"https://openalex.org/C2776885963","wikidata":"https://www.wikidata.org/wiki/Q245204","display_name":"Antagonist","level":3,"score":0.5763601064682007},{"id":"https://openalex.org/C49097943","wikidata":"https://www.wikidata.org/wiki/Q898455","display_name":"Shape-memory alloy","level":2,"score":0.5355349183082581},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4867677688598633},{"id":"https://openalex.org/C2780026712","wikidata":"https://www.wikidata.org/wiki/Q37756","display_name":"Alloy","level":2,"score":0.467338889837265},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3974820077419281},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.35946935415267944},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.32653146982192993},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15584540367126465},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.14670252799987793},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.08798235654830933},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08456310629844666},{"id":"https://openalex.org/C170493617","wikidata":"https://www.wikidata.org/wiki/Q208467","display_name":"Receptor","level":2,"score":0.07418695092201233},{"id":"https://openalex.org/C126322002","wikidata":"https://www.wikidata.org/wiki/Q11180","display_name":"Internal medicine","level":1,"score":0.06566199660301208},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robosoft63089.2025.11020938","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft63089.2025.11020938","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 8th International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7599999904632568,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W2801458905","https://openalex.org/W2977569883","https://openalex.org/W3022219091","https://openalex.org/W3096060088","https://openalex.org/W3177722432","https://openalex.org/W3203388279","https://openalex.org/W3211537712","https://openalex.org/W4205367930","https://openalex.org/W4214644029","https://openalex.org/W4220938646","https://openalex.org/W4223630287","https://openalex.org/W4225141073","https://openalex.org/W4383908749","https://openalex.org/W4385476004","https://openalex.org/W4386170013","https://openalex.org/W4386224027","https://openalex.org/W4390562240","https://openalex.org/W4390673207","https://openalex.org/W4392897043","https://openalex.org/W4396780275"],"related_works":["https://openalex.org/W1503164862","https://openalex.org/W4205500794","https://openalex.org/W2909273876","https://openalex.org/W2350938838","https://openalex.org/W2570797127","https://openalex.org/W2040908729","https://openalex.org/W2027119997","https://openalex.org/W2125471807","https://openalex.org/W2114161702","https://openalex.org/W3021603022"],"abstract_inverted_index":{"Soft":[0],"robotics":[1],"still":[2],"requires":[3],"fundamental":[4],"advances":[5],"in":[6],"sensor":[7],"and":[8,39,95,117,132,175],"actuator":[9],"technologies":[10],"to":[11,64,106,157],"achieve":[12],"its":[13],"full":[14],"potential.":[15],"One":[16],"of":[17,24,37,50,72,92,110,163],"the":[18,22,48,51,56,69,123,144],"main":[19],"challenges":[20],"is":[21,62],"development":[23],"effective":[25],"control":[26,100,120,135],"strategies":[27],"for":[28],"shape":[29],"memory":[30],"alloy":[31],"(SMA)":[32],"antagonist":[33,40],"systems,":[34],"where":[35],"coactivation":[36],"agonist":[38],"actuators":[41,156],"can":[42],"generate":[43],"mechanical":[44],"forces":[45],"that":[46,84,98,122],"compromise":[47],"integrity":[49],"system.":[52],"This":[53,167],"study":[54],"presents":[55],"Asymmetric":[57],"Agonist-Antagonist":[58],"(A3)":[59],"controller,":[60],"which":[61],"designed":[63],"improve":[65],"safety":[66],"by":[67],"preventing":[68],"simultaneous":[70],"heating":[71],"both":[73],"SMAs.":[74],"The":[75],"A3":[76,124,145],"controller":[77,125,146],"employs":[78],"two":[79],"activation":[80,87],"functions:":[81],"Pedestrian":[82],"Safety,":[83],"sets":[85],"an":[86],"offset":[88],"as":[89],"a":[90,170],"function":[91],"position":[93,127],"error;":[94],"Adaptive":[96],"Gradient,":[97],"attenuates":[99],"signals":[101],"when":[102],"they":[103],"are":[104],"opposite":[105],"their":[107],"primary":[108],"direction":[109],"motion.":[111],"Comparative":[112],"tests":[113],"with":[114],"passive":[115],"recovery":[116],"traditional":[118],"PID":[119],"show":[121],"reduces":[126],"error,":[128],"achieves":[129],"smoother":[130],"transitions,":[131],"eliminates":[133],"abrupt":[134],"switching":[136],"between":[137],"SMA":[138,149,177],"actuators.":[139,184],"By":[140],"mitigating":[141],"opposing":[142],"forces,":[143],"enables":[147],"safer":[148],"operation":[150],"at":[151],"higher":[152],"frequencies,":[153],"allowing":[154],"these":[155],"be":[158],"integrated":[159],"into":[160,182],"new":[161],"types":[162],"soft":[164,183],"robotic":[165],"applications.":[166],"approach":[168],"represents":[169],"critical":[171],"step":[172],"toward":[173],"robust":[174],"scalable":[176],"control,":[178],"enabling":[179],"further":[180],"research":[181]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}