{"id":"https://openalex.org/W2063367762","doi":"https://doi.org/10.1109/robot.2010.5509533","title":"Control of cable actuated devices using smooth backlash inverse","display_name":"Control of cable actuated devices using smooth backlash inverse","publication_year":2010,"publication_date":"2010-05-01","ids":{"openalex":"https://openalex.org/W2063367762","doi":"https://doi.org/10.1109/robot.2010.5509533","mag":"2063367762"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2010.5509533","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509533","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"conference-paper","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/A5102870612","display_name":"Varun Agrawal","orcid":"https://orcid.org/0009-0007-5301-7163"},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Varun Agrawal","raw_affiliation_strings":["School of Mechanical Engineering, Purdue University, West Lafayette, IN, USA","School of Mechanical Engineering; Purdue University; West Lafayette IN 47906 USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Purdue University, West Lafayette, IN, USA","institution_ids":["https://openalex.org/I219193219"]},{"raw_affiliation_string":"School of Mechanical Engineering; Purdue University; West Lafayette IN 47906 USA","institution_ids":["https://openalex.org/I219193219"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044613672","display_name":"William J. Peine","orcid":null},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"William J Peine","raw_affiliation_strings":["School of Mechanical Engineering, Purdue University, West Lafayette, IN, USA","School of Mechanical Engineering; Purdue University; West Lafayette IN 47906 USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Purdue University, West Lafayette, IN, USA","institution_ids":["https://openalex.org/I219193219"]},{"raw_affiliation_string":"School of Mechanical Engineering; Purdue University; West Lafayette IN 47906 USA","institution_ids":["https://openalex.org/I219193219"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100757931","display_name":"Bin Yao","orcid":"https://orcid.org/0000-0003-3142-4570"},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Bin Yao","raw_affiliation_strings":["School of Mechanical Engineering, Purdue University, West Lafayette, IN, USA","School of Mechanical Engineering; Purdue University; West Lafayette IN 47906 USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Purdue University, West Lafayette, IN, USA","institution_ids":["https://openalex.org/I219193219"]},{"raw_affiliation_string":"School of Mechanical Engineering; Purdue University; West Lafayette IN 47906 USA","institution_ids":["https://openalex.org/I219193219"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102114173","display_name":"Seung-Wook Choi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"SeungWook Choi","raw_affiliation_strings":["Rebo Company Limited, Gyeonggi, South Korea","Rebo Co. Ltd., Gyeonggi, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Rebo Company Limited, Gyeonggi, South Korea","institution_ids":[]},{"raw_affiliation_string":"Rebo Co. Ltd., Gyeonggi, Republic of Korea","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":83,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1074","last_page":"1079"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9995999932289124,"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"}},"topics":[{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9995999932289124,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.989799976348877,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9878000020980835,"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/backlash","display_name":"Backlash","score":0.9713886380195618},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7610443830490112},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7094016671180725},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.6437175869941711},{"id":"https://openalex.org/keywords/feed-forward","display_name":"Feed forward","score":0.6381656527519226},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.6017324924468994},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5886476039886475},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4954725503921509},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.48707059025764465},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.45349109172821045},{"id":"https://openalex.org/keywords/mechanical-system","display_name":"Mechanical system","score":0.4422478675842285},{"id":"https://openalex.org/keywords/transmission","display_name":"Transmission (telecommunications)","score":0.44177109003067017},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4376312792301178},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4252844750881195},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.33303767442703247},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.1830405294895172},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13350632786750793},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.11738446354866028},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10371050238609314},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08637183904647827}],"concepts":[{"id":"https://openalex.org/C2776652708","wikidata":"https://www.wikidata.org/wiki/Q584028","display_name":"Backlash","level":2,"score":0.9713886380195618},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7610443830490112},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7094016671180725},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.6437175869941711},{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.6381656527519226},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.6017324924468994},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5886476039886475},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4954725503921509},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.48707059025764465},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45349109172821045},{"id":"https://openalex.org/C171912257","wikidata":"https://www.wikidata.org/wiki/Q11019","display_name":"Mechanical system","level":2,"score":0.4422478675842285},{"id":"https://openalex.org/C761482","wikidata":"https://www.wikidata.org/wiki/Q118093","display_name":"Transmission (telecommunications)","level":2,"score":0.44177109003067017},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4376312792301178},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4252844750881195},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.33303767442703247},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.1830405294895172},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13350632786750793},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.11738446354866028},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10371050238609314},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08637183904647827},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robot.2010.5509533","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509533","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.424.1598","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.424.1598","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"https://engineering.purdue.edu/~byao/Papers/ICRA_10.pdf","raw_type":"text"}],"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/W600566741","https://openalex.org/W628626147","https://openalex.org/W1527846441","https://openalex.org/W1558283808","https://openalex.org/W1567687348","https://openalex.org/W1567724624","https://openalex.org/W1849458061","https://openalex.org/W1975596043","https://openalex.org/W1988273910","https://openalex.org/W2015975054","https://openalex.org/W2073407198","https://openalex.org/W2103229768","https://openalex.org/W2128935471","https://openalex.org/W2129615936","https://openalex.org/W2133076227","https://openalex.org/W2140031923","https://openalex.org/W2151420688","https://openalex.org/W2154578892","https://openalex.org/W2160899683","https://openalex.org/W2162394694","https://openalex.org/W2164068699","https://openalex.org/W2170090733","https://openalex.org/W4250506105","https://openalex.org/W6618080187","https://openalex.org/W6633278738","https://openalex.org/W6644192020"],"related_works":["https://openalex.org/W2318553114","https://openalex.org/W45990023","https://openalex.org/W2369073421","https://openalex.org/W2066639517","https://openalex.org/W1547791127","https://openalex.org/W2614803051","https://openalex.org/W2111114834","https://openalex.org/W2479830636","https://openalex.org/W4254771745","https://openalex.org/W1981780321"],"abstract_inverted_index":{"Cable":[0],"conduit":[1],"actuation":[2],"provides":[3],"a":[4,78,149],"simple":[5,79],"yet":[6],"dexterous":[7],"mode":[8],"of":[9,21,35,39,51,53,70,98,115,152],"power":[10],"transmission":[11],"for":[12,83,166],"remote":[13],"actuation.":[14,167],"However,":[15],"they":[16],"are":[17],"not":[18],"preferred":[19],"because":[20],"the":[22,40,54,57,71,95,99,124,128,142],"nonlinearities":[23],"arising":[24],"from":[25],"friction":[26],"and":[27,106],"cable":[28],"compliance":[29],"which":[30,46,93],"lead":[31],"to":[32,112],"backlash":[33,44,84,89],"type":[34],"behavior.":[36],"Unlike":[37],"most":[38],"current":[41],"research":[42],"in":[43,60,101,141],"control":[45,81],"generally":[47],"assumes":[48],"no":[49],"knowledge":[50],"one":[52],"intermediate":[55],"states,":[56],"controller":[58],"design":[59],"this":[61,116],"case":[62],"can":[63,121],"be":[64],"significantly":[65],"simplified":[66],"if":[67],"output":[68],"feedback":[69],"system":[72,125,155],"is":[73,91,144],"available.":[74],"This":[75],"paper":[76],"uses":[77],"feedforward":[80],"law":[82],"compensation.":[85],"A":[86],"novel":[87],"smooth":[88,137],"inverse":[90,117,138],"proposed,":[92],"takes":[94],"physical":[96,119],"limitations":[97],"actuator":[100],"consideration,":[102],"unlike":[103],"other":[104,135],"designs,":[105],"thus":[107],"makes":[108],"it":[109],"more":[110],"intuitive":[111],"use.":[113],"Implementation":[114],"on":[118,148,159],"systems":[120],"also":[122],"improve":[123],"performance":[126,143],"over":[127],"theoretical":[129],"exact":[130],"inverse,":[131],"as":[132,134,156,158],"well":[133,157],"existing":[136],"designs.":[139],"Improvement":[140],"shown":[145],"through":[146],"experiments":[147],"robot":[150],"arm":[151],"Laprotek":[153],"surgical":[154],"an":[160],"experimental":[161],"setup":[162],"using":[163],"polymeric":[164],"cables":[165]},"counts_by_year":[{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":7},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":10},{"year":2014,"cited_by_count":12},{"year":2013,"cited_by_count":7},{"year":2012,"cited_by_count":8}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
