{"id":"https://openalex.org/W2135740627","doi":"https://doi.org/10.1109/robot.2005.1570523","title":"Force and Acceleration Sensor Fusion for Compliant Robot Motion Control","display_name":"Force and Acceleration Sensor Fusion for Compliant Robot Motion Control","publication_year":2006,"publication_date":"2006-01-18","ids":{"openalex":"https://openalex.org/W2135740627","doi":"https://doi.org/10.1109/robot.2005.1570523","mag":"2135740627"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2005.1570523","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570523","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://lup.lub.lu.se/record/535722","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5057260753","display_name":"Javier G\u00e1mez Garc\u00eda","orcid":"https://orcid.org/0000-0001-9812-0139"},"institutions":[{"id":"https://openalex.org/I191420491","display_name":"Universidad de Ja\u00e9n","ror":"https://ror.org/0122p5f64","country_code":"ES","type":"education","lineage":["https://openalex.org/I191420491"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"J.G. Garcia","raw_affiliation_strings":["System Engineering and Automation Dept, Jaen University, Jaen, Spain","System Engineering and Automation Dept. Jaen University Campus Las Lagunillas, 23071 Jaen, Spain. jggarcia@ujaen.es"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"System Engineering and Automation Dept, Jaen University, Jaen, Spain","institution_ids":["https://openalex.org/I191420491"]},{"raw_affiliation_string":"System Engineering and Automation Dept. Jaen University Campus Las Lagunillas, 23071 Jaen, Spain. jggarcia@ujaen.es","institution_ids":["https://openalex.org/I191420491"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013736282","display_name":"Anders Robertsson","orcid":"https://orcid.org/0000-0003-1063-4771"},"institutions":[{"id":"https://openalex.org/I187531555","display_name":"Lund University","ror":"https://ror.org/012a77v79","country_code":"SE","type":"education","lineage":["https://openalex.org/I187531555"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"A. Robertsson","raw_affiliation_strings":["Dept. of Automatic Control, Lund University, Lund, Sweden","Department of Automatic Control"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Automatic Control, Lund University, Lund, Sweden","institution_ids":["https://openalex.org/I187531555"]},{"raw_affiliation_string":"Department of Automatic Control","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082398744","display_name":"Juan G\u00f3mez Ortega","orcid":"https://orcid.org/0000-0002-2827-2548"},"institutions":[{"id":"https://openalex.org/I191420491","display_name":"Universidad de Ja\u00e9n","ror":"https://ror.org/0122p5f64","country_code":"ES","type":"education","lineage":["https://openalex.org/I191420491"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"J.G. Ortega","raw_affiliation_strings":["System Engineering and Automation Dept, Jaen University, Jaen, Spain","[System Engineering and Automation Dept, Jaen University, Jaen, Spain]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"System Engineering and Automation Dept, Jaen University, Jaen, Spain","institution_ids":["https://openalex.org/I191420491"]},{"raw_affiliation_string":"[System Engineering and Automation Dept, Jaen University, Jaen, Spain]","institution_ids":["https://openalex.org/I191420491"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084540714","display_name":"Rolf Johansson","orcid":"https://orcid.org/0000-0002-0786-8561"},"institutions":[{"id":"https://openalex.org/I187531555","display_name":"Lund University","ror":"https://ror.org/012a77v79","country_code":"SE","type":"education","lineage":["https://openalex.org/I187531555"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"R. Johansson","raw_affiliation_strings":["Dept. of Automatic Control, Lund University, Lund, Sweden","Department of Automatic Control"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Automatic Control, Lund University, Lund, Sweden","institution_ids":["https://openalex.org/I187531555"]},{"raw_affiliation_string":"Department of Automatic Control","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":27,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2709","last_page":"2714"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9994999766349792,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9994999766349792,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9812999963760376,"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"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9681000113487244,"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/contact-force","display_name":"Contact force","score":0.6601179838180542},{"id":"https://openalex.org/keywords/accelerometer","display_name":"Accelerometer","score":0.610692024230957},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5489282608032227},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.5446145534515381},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.5048912167549133},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5028828978538513},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.5000989437103271},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.497557669878006},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.46170005202293396},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.4616360366344452},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.44197288155555725},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3726358711719513},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3607575297355652},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.2987897992134094},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2947675883769989},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13788792490959167},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.11309388279914856}],"concepts":[{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.6601179838180542},{"id":"https://openalex.org/C89805583","wikidata":"https://www.wikidata.org/wiki/Q192940","display_name":"Accelerometer","level":2,"score":0.610692024230957},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5489282608032227},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.5446145534515381},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.5048912167549133},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5028828978538513},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.5000989437103271},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.497557669878006},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.46170005202293396},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.4616360366344452},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.44197288155555725},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3726358711719513},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3607575297355652},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.2987897992134094},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2947675883769989},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13788792490959167},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11309388279914856},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/robot.2005.1570523","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570523","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.1023.1644","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.1023.1644","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"https://lup.lub.lu.se/search/record/535722/file/625573.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.1033.3059","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.1033.3059","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://lup.lub.lu.se/search/record/535722/file/625573.pdf","raw_type":"text"},{"id":"pmh:oai:lup.lub.lu.se:a3218624-81d4-4448-b553-32b40dad8dc9","is_oa":true,"landing_page_url":"https://lup.lub.lu.se/record/535722","pdf_url":null,"source":{"id":"https://openalex.org/S4306400536","display_name":"Lund University Publications (Lund University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I187531555","host_organization_name":"Lund University","host_organization_lineage":["https://openalex.org/I187531555"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferencePaper"}],"best_oa_location":{"id":"pmh:oai:lup.lub.lu.se:a3218624-81d4-4448-b553-32b40dad8dc9","is_oa":true,"landing_page_url":"https://lup.lub.lu.se/record/535722","pdf_url":null,"source":{"id":"https://openalex.org/S4306400536","display_name":"Lund University Publications (Lund University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I187531555","host_organization_name":"Lund University","host_organization_lineage":["https://openalex.org/I187531555"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferencePaper"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1604456152","https://openalex.org/W1836514138","https://openalex.org/W1967377907","https://openalex.org/W1978023077","https://openalex.org/W2031623775","https://openalex.org/W2078777784","https://openalex.org/W2105319781","https://openalex.org/W2111197816","https://openalex.org/W2150941658","https://openalex.org/W3157875926","https://openalex.org/W6638608278","https://openalex.org/W6794338434"],"related_works":["https://openalex.org/W2786196354","https://openalex.org/W3191493856","https://openalex.org/W3128324021","https://openalex.org/W1960616769","https://openalex.org/W4289656195","https://openalex.org/W2124146082","https://openalex.org/W2059740384","https://openalex.org/W2071387541","https://openalex.org/W2709287450","https://openalex.org/W1984186897"],"abstract_inverted_index":{"In":[0],"this":[1],"work,":[2],"we":[3],"present":[4],"implementation":[5],"and":[6,89,121],"experiment":[7],"of":[8,11,35,77,83,114,117,128,130],"the":[9,28,33,36,50,54,78,103,115,126,146],"theory":[10],"dynamic":[12],"force":[13,30,44,87,100],"sensing":[14],"for":[15,102],"robotic":[16],"manipulators,":[17],"which":[18,46,124],"uses":[19],"a":[20,42,58,85,97],"sensor":[21,88],"fusion":[22,65],"technique":[23],"in":[24],"order":[25],"to":[26,95,111,144],"extract":[27],"contact":[29,99],"exerted":[31],"by":[32,41,49],"end-effector":[34],"manipulator":[37],"from":[38],"those":[39],"measured":[40],"wrist":[43,86],"sensor,":[45],"are":[47],"corrupted":[48],"inertial":[51],"forces":[52],"on":[53,63,153],"end-effector.":[55],"We":[56],"propose":[57],"new":[59,108],"control":[60,140,160],"strategy":[61],"based":[62],"multisensor":[64],"with":[66,80,158],"three":[67,104],"different":[68],"sensors\u2014":[69],"that":[70],"is,":[71],"encoders":[72],"mounted":[73],"at":[74],"each":[75],"joint":[76],"robot":[79,157],"six":[81],"degrees":[82],"freedom,":[84],"an":[90,154],"accelerometer\u2014":[91],"whose":[92],"goal":[93],"is":[94],"obtain":[96],"suitable":[98],"estimator":[101],"Cartesian":[105],"axes.":[106],"This":[107],"observer":[109],"contributes":[110],"overcome":[112],"many":[113],"difficulties":[116],"uncertain":[118],"world":[119],"models":[120],"unknown":[122],"environments,":[123],"limit":[125],"domain":[127],"application":[129],"currents":[131],"robots":[132],"used":[133],"without":[134],"external":[135],"sensory":[136],"feedback.":[137],"An":[138],"impedance":[139],"scheme":[141],"was":[142],"proposed":[143],"verify":[145],"improvement.":[147],"The":[148],"experiments":[149],"were":[150],"carried":[151],"out":[152],"ABB":[155],"industrial":[156],"open":[159],"system":[161],"architecture.":[162]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":2},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}