{"id":"https://openalex.org/W4413145186","doi":"https://doi.org/10.1109/sas65169.2025.11105153","title":"A Novel Torque Sensing Approach to Eliminate Stiction in Haptic Devices with Hybrid Motor/Brake Actuation","display_name":"A Novel Torque Sensing Approach to Eliminate Stiction in Haptic Devices with Hybrid Motor/Brake Actuation","publication_year":2025,"publication_date":"2025-07-08","ids":{"openalex":"https://openalex.org/W4413145186","doi":"https://doi.org/10.1109/sas65169.2025.11105153"},"language":"en","primary_location":{"id":"doi:10.1109/sas65169.2025.11105153","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sas65169.2025.11105153","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE Sensors Applications Symposium (SAS)","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/A5074037430","display_name":"Milan Djordjevi\u0107","orcid":"https://orcid.org/0000-0001-7317-8334"},"institutions":[{"id":"https://openalex.org/I67031392","display_name":"Carleton University","ror":"https://ror.org/02qtvee93","country_code":"CA","type":"education","lineage":["https://openalex.org/I67031392"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Milan Djordjevic","raw_affiliation_strings":["Carleton University,Department of Systems and Computer Engineering,Ottawa,Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carleton University,Department of Systems and Computer Engineering,Ottawa,Canada","institution_ids":["https://openalex.org/I67031392"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Jacob Horne","orcid":null},"institutions":[{"id":"https://openalex.org/I67031392","display_name":"Carleton University","ror":"https://ror.org/02qtvee93","country_code":"CA","type":"education","lineage":["https://openalex.org/I67031392"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Jacob Horne","raw_affiliation_strings":["Carleton University,Department of Systems and Computer Engineering,Ottawa,Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carleton University,Department of Systems and Computer Engineering,Ottawa,Canada","institution_ids":["https://openalex.org/I67031392"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114113741","display_name":"Samuel Lovett","orcid":"https://orcid.org/0009-0001-8123-2262"},"institutions":[{"id":"https://openalex.org/I67031392","display_name":"Carleton University","ror":"https://ror.org/02qtvee93","country_code":"CA","type":"education","lineage":["https://openalex.org/I67031392"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Samuel Lovett","raw_affiliation_strings":["Carleton University,Department of Systems and Computer Engineering,Ottawa,Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carleton University,Department of Systems and Computer Engineering,Ottawa,Canada","institution_ids":["https://openalex.org/I67031392"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004694109","display_name":"Colin Gallacher","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Colin Gallacher","raw_affiliation_strings":["Haply Robotics,Montréal,Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Haply Robotics,Montréal,Canada","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035670000","display_name":"Antoine Weill\u2013Duflos","orcid":"https://orcid.org/0000-0002-2782-3678"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Antoine Weill-Duflos","raw_affiliation_strings":["Haply Robotics,Montréal,Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Haply Robotics,Montréal,Canada","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076465575","display_name":"Carlos Rossa","orcid":"https://orcid.org/0000-0002-5879-1752"},"institutions":[{"id":"https://openalex.org/I67031392","display_name":"Carleton University","ror":"https://ror.org/02qtvee93","country_code":"CA","type":"education","lineage":["https://openalex.org/I67031392"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Carlos Rossa","raw_affiliation_strings":["Carleton University,Department of Systems and Computer Engineering,Ottawa,Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carleton University,Department of Systems and Computer Engineering,Ottawa,Canada","institution_ids":["https://openalex.org/I67031392"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.4905,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.65093279,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.933899998664856,"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":0.933899998664856,"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/T12006","display_name":"Ergonomics and Musculoskeletal Disorders","score":0.9319999814033508,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T14011","display_name":"Elevator Systems and Control","score":0.9196000099182129,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/stiction","display_name":"Stiction","score":0.9553232192993164},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.7197240591049194},{"id":"https://openalex.org/keywords/brake","display_name":"Brake","score":0.7192832827568054},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.6805000901222229},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5248273015022278},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.5047100782394409},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2837851047515869},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.26846861839294434},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.24073433876037598},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14738863706588745},{"id":"https://openalex.org/keywords/microelectromechanical-systems","display_name":"Microelectromechanical systems","score":0.1034688651561737},{"id":"https://openalex.org/keywords/optoelectronics","display_name":"Optoelectronics","score":0.09419310092926025}],"concepts":[{"id":"https://openalex.org/C110339231","wikidata":"https://www.wikidata.org/wiki/Q2143425","display_name":"Stiction","level":3,"score":0.9553232192993164},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.7197240591049194},{"id":"https://openalex.org/C2780999251","wikidata":"https://www.wikidata.org/wiki/Q17022503","display_name":"Brake","level":2,"score":0.7192832827568054},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.6805000901222229},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5248273015022278},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.5047100782394409},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2837851047515869},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.26846861839294434},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.24073433876037598},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14738863706588745},{"id":"https://openalex.org/C37977207","wikidata":"https://www.wikidata.org/wiki/Q175561","display_name":"Microelectromechanical systems","level":2,"score":0.1034688651561737},{"id":"https://openalex.org/C49040817","wikidata":"https://www.wikidata.org/wiki/Q193091","display_name":"Optoelectronics","level":1,"score":0.09419310092926025},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/sas65169.2025.11105153","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sas65169.2025.11105153","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE Sensors Applications Symposium (SAS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8500000238418579,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2344555939","https://openalex.org/W1949502423","https://openalex.org/W4200457072","https://openalex.org/W2037382221","https://openalex.org/W2359699189","https://openalex.org/W2519205527","https://openalex.org/W3000436117","https://openalex.org/W751146449","https://openalex.org/W3086776355","https://openalex.org/W2621143239"],"abstract_inverted_index":{"Hybrid":[0],"haptic":[1],"devices":[2],"combining":[3],"brakes":[4,69],"and":[5,50,106,117,124,174,176,227,233],"motors":[6,28],"enable":[7],"precise":[8],"force":[9,60,105,142],"rendering":[10],"in":[11,61,144],"applications":[12],"spanning":[13],"teleoperation":[14],"to":[15,25,88,101,119,161,216,230],"virtual":[16,168],"reality":[17],"simulation.":[18],"Brakes":[19],"can":[20,29,70],"provide":[21],"a":[22,38,59,73,132,139,145,167,189,195,223],"strong":[23],"resistance":[24,83],"motion,":[26],"while":[27,209],"simulate":[30],"interactions":[31],"with":[32],"elastic":[33,48],"or":[34,97,153],"animated":[35],"elements.":[36],"However,":[37,111],"common":[39],"issue":[40],"arises":[41],"when":[42],"the":[43,55,62,65,78,103,108,120,172,178,231],"user":[44],"pushes":[45],"against":[46],"an":[47,81,163],"element":[49],"reverses":[51],"motion.":[52,67],"Upon":[53],"reversal,":[54],"actuator":[56,148,198],"must":[57],"apply":[58],"direction":[63],"of":[64,166,191,235],"user\u2019s":[66],"Since":[68],"only":[71],"oppose":[72],"force,":[74],"they":[75],"instead":[76],"resist":[77],"user,":[79],"creating":[80],"unwanted":[82],"known":[84],"as":[85],"stiction.":[86],"Solutions":[87],"this":[89,220],"problem":[90],"often":[91],"involve":[92],"bulky":[93],"rotary":[94,146],"torque":[95,134,170],"sensors":[96],"imprecise":[98],"strain":[99],"gauges":[100],"detect":[102],"user-applied":[104],"deactivate":[107],"brake":[109,173,179],"accordingly.":[110],"these":[112],"solutions":[113],"introduce":[114],"substantial":[115],"inertia":[116,152],"friction":[118],"actuator,":[121],"are":[122],"expensive,":[123],"not":[125],"suitable":[126],"for":[127],"portable":[128],"devices.This":[129],"paper":[130],"introduces":[131],"novel":[133],"sensing":[135],"approach":[136,185,205],"that":[137,203],"embeds":[138],"miniature":[140],"1-DOF":[141,196],"sensor":[143],"hybrid":[147,197,236],"without":[149],"adding":[150],"any":[151],"friction.":[154],"A":[155],"new":[156],"control":[157,234],"algorithm":[158],"is":[159,186],"proposed":[160,184,204],"determine":[162],"optimal":[164],"partition":[165],"environment":[169],"between":[171],"motor,":[175],"disengage":[177],"before":[180],"stiction":[181,208],"occurs.":[182],"The":[183,200],"validated":[187],"through":[188],"series":[190],"experimental":[192],"testing":[193],"on":[194],"prototype.":[199],"results":[201],"show":[202],"successfully":[206],"eliminates":[207],"preventing":[210],"oscillations":[211],"around":[212],"zero":[213],"velocity.":[214],"Compared":[215],"conventional":[217],"instrumentation":[218],"methods,":[219],"implementation":[221],"offers":[222],"more":[224],"costeffective,":[225],"compact,":[226],"reliable":[228],"alternative":[229],"design":[232],"actuators.":[237]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}