{"id":"https://openalex.org/W4407403422","doi":"https://doi.org/10.1109/sii59315.2025.10870582","title":"Implementing Stretch Reflex in Musculoskeletal Robots Driven by Pneumatic Artificial Muscles Using Nonlinear Spring Model<sup>*</sup>","display_name":"Implementing Stretch Reflex in Musculoskeletal Robots Driven by Pneumatic Artificial Muscles Using Nonlinear Spring Model<sup>*</sup>","publication_year":2025,"publication_date":"2025-01-21","ids":{"openalex":"https://openalex.org/W4407403422","doi":"https://doi.org/10.1109/sii59315.2025.10870582"},"language":"en","primary_location":{"id":"doi:10.1109/sii59315.2025.10870582","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii59315.2025.10870582","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/SICE International Symposium on System Integration (SII)","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/A5108669191","display_name":"Mizuki Yoshida","orcid":null},"institutions":[{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Mizuki Yoshida","raw_affiliation_strings":["Kyoto University,Graduate School of Engineering,Department of Mechanical Engineering and Science,Kyoto,Japan"],"affiliations":[{"raw_affiliation_string":"Kyoto University,Graduate School of Engineering,Department of Mechanical Engineering and Science,Kyoto,Japan","institution_ids":["https://openalex.org/I22299242"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100755381","display_name":"Junqi Wang","orcid":"https://orcid.org/0000-0001-8843-7781"},"institutions":[{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Wang Junqi","raw_affiliation_strings":["Kyoto University,Graduate School of Engineering,Department of Mechanical Engineering and Science,Kyoto,Japan"],"affiliations":[{"raw_affiliation_string":"Kyoto University,Graduate School of Engineering,Department of Mechanical Engineering and Science,Kyoto,Japan","institution_ids":["https://openalex.org/I22299242"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071330791","display_name":"Takumi Kawasetsu","orcid":"https://orcid.org/0000-0002-4867-6996"},"institutions":[{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takumi Kawasetsu","raw_affiliation_strings":["Kyoto University,Graduate School of Engineering,Department of Mechanical Engineering and Science,Kyoto,Japan"],"affiliations":[{"raw_affiliation_string":"Kyoto University,Graduate School of Engineering,Department of Mechanical Engineering and Science,Kyoto,Japan","institution_ids":["https://openalex.org/I22299242"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5072232488","display_name":"Koh Hosoda","orcid":"https://orcid.org/0000-0001-8392-1021"},"institutions":[{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Koh Hosoda","raw_affiliation_strings":["Kyoto University,Graduate School of Engineering,Department of Mechanical Engineering and Science,Kyoto,Japan"],"affiliations":[{"raw_affiliation_string":"Kyoto University,Graduate School of Engineering,Department of Mechanical Engineering and Science,Kyoto,Japan","institution_ids":["https://openalex.org/I22299242"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5108669191"],"corresponding_institution_ids":["https://openalex.org/I22299242"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.02848387,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"58","last_page":"63"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9918000102043152,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9918000102043152,"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/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9830999970436096,"subfield":{"id":"https://openalex.org/subfields/2742","display_name":"Rehabilitation"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9765999913215637,"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/spring","display_name":"Spring (device)","score":0.7778281569480896},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7242949604988098},{"id":"https://openalex.org/keywords/reflex","display_name":"Reflex","score":0.6559548377990723},{"id":"https://openalex.org/keywords/artificial-muscle","display_name":"Artificial muscle","score":0.6515296101570129},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6111558079719543},{"id":"https://openalex.org/keywords/nonlinear-model","display_name":"Nonlinear model","score":0.46233201026916504},{"id":"https://openalex.org/keywords/pneumatic-artificial-muscles","display_name":"Pneumatic artificial muscles","score":0.44579365849494934},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4283485412597656},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.41133415699005127},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3874053657054901},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.337260901927948},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3250318169593811},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.23970982432365417},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.2395188808441162},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23704740405082703},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.11250311136245728},{"id":"https://openalex.org/keywords/neuroscience","display_name":"Neuroscience","score":0.08026576042175293}],"concepts":[{"id":"https://openalex.org/C2778712887","wikidata":"https://www.wikidata.org/wiki/Q102836","display_name":"Spring (device)","level":2,"score":0.7778281569480896},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7242949604988098},{"id":"https://openalex.org/C83974742","wikidata":"https://www.wikidata.org/wiki/Q179405","display_name":"Reflex","level":2,"score":0.6559548377990723},{"id":"https://openalex.org/C196628372","wikidata":"https://www.wikidata.org/wiki/Q4801090","display_name":"Artificial muscle","level":3,"score":0.6515296101570129},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6111558079719543},{"id":"https://openalex.org/C2984755018","wikidata":"https://www.wikidata.org/wiki/Q17118374","display_name":"Nonlinear model","level":3,"score":0.46233201026916504},{"id":"https://openalex.org/C2778313331","wikidata":"https://www.wikidata.org/wiki/Q2317989","display_name":"Pneumatic artificial muscles","level":4,"score":0.44579365849494934},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4283485412597656},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.41133415699005127},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3874053657054901},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.337260901927948},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3250318169593811},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.23970982432365417},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.2395188808441162},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23704740405082703},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.11250311136245728},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.08026576042175293},{"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/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/sii59315.2025.10870582","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii59315.2025.10870582","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/SICE International Symposium on System Integration (SII)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W131838035","https://openalex.org/W1515749184","https://openalex.org/W1608215728","https://openalex.org/W2000795873","https://openalex.org/W2023468032","https://openalex.org/W2037891208","https://openalex.org/W2067351897","https://openalex.org/W2092685321","https://openalex.org/W2131912792","https://openalex.org/W2156378823","https://openalex.org/W2573730702","https://openalex.org/W2775854755","https://openalex.org/W2895231687","https://openalex.org/W3035814335","https://openalex.org/W3185877379","https://openalex.org/W4205187792","https://openalex.org/W4321021826"],"related_works":["https://openalex.org/W2162848954","https://openalex.org/W91770536","https://openalex.org/W2020912483","https://openalex.org/W2742397931","https://openalex.org/W2066967876","https://openalex.org/W2360194697","https://openalex.org/W1573724835","https://openalex.org/W2131445915","https://openalex.org/W4239148269","https://openalex.org/W1905696494"],"abstract_inverted_index":{"This":[0],"paper":[1],"introduces":[2],"a":[3,23,27,106,119,129],"method":[4],"to":[5,68,113,132],"realize":[6],"stretch":[7,107],"reflexes":[8],"in":[9,44,96],"musculoskeletal":[10],"robots":[11],"without":[12],"length":[13,60,70,103,133],"sensors.":[14,134],"A":[15],"pneumatic":[16],"artificial":[17],"muscle":[18],"(PAM)":[19],"was":[20,122],"modeled":[21],"as":[22],"nonlinear":[24],"spring":[25,28,39],"with":[26,74,118,125],"constant":[29,40,62],"dependent":[30],"on":[31],"deformation":[32],"and":[33,47,59,77,104],"pressure.":[34,63],"The":[35,115],"dimension":[36],"of":[37,71,101],"the":[38,66,80,92,98,110,126],"had":[41],"physical":[42],"bases":[43],"prior":[45],"research,":[46],"its":[48],"coefficients":[49],"were":[50],"derived":[51],"from":[52],"static":[53],"tensile":[54],"tests":[55],"that":[56],"measured":[57],"force":[58],"under":[61],"We":[64],"applied":[65],"model":[67,93],"estimate":[69],"four":[72],"PAMs":[73],"different":[75],"materials":[76],"shapes,":[78],"verifying":[79],"general":[81],"applicability.":[82],"When":[83],"incorporated":[84],"into":[85],"an":[86],"arm":[87],"driven":[88],"by":[89],"antagonistic":[90],"muscles,":[91],"proved":[94],"effective":[95],"monitoring":[97],"velocity":[99],"change":[100],"PAM":[102],"triggering":[105],"reflex,":[108],"enhancing":[109],"robot\u2019s":[111],"adaptability":[112],"disturbances.":[114],"reflex":[116],"trajectory":[117],"conventional":[120],"sensor":[121],"well":[123],"replicated":[124],"model,":[127],"offering":[128],"practical":[130],"alternative":[131]},"counts_by_year":[],"updated_date":"2025-12-21T01:58:51.020947","created_date":"2025-10-10T00:00:00"}