{"id":"https://openalex.org/W2990129654","doi":"https://doi.org/10.1109/smc.2019.8913851","title":"Modeling Mechanical Impedance of Environment in Flexible Robotics Applications","display_name":"Modeling Mechanical Impedance of Environment in Flexible Robotics Applications","publication_year":2019,"publication_date":"2019-10-01","ids":{"openalex":"https://openalex.org/W2990129654","doi":"https://doi.org/10.1109/smc.2019.8913851","mag":"2990129654"},"language":"en","primary_location":{"id":"doi:10.1109/smc.2019.8913851","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc.2019.8913851","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Systems, Man and Cybernetics (SMC)","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/A5064531700","display_name":"Javier Prieto-Arranz","orcid":"https://orcid.org/0000-0002-6599-219X"},"institutions":[{"id":"https://openalex.org/I79189158","display_name":"University of Castilla-La Mancha","ror":"https://ror.org/05r78ng12","country_code":"ES","type":"education","lineage":["https://openalex.org/I79189158"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Javier Prieto-Arranz","raw_affiliation_strings":["School of Industrial Engineering, University of Castilla-La Mancha, Ciudad Real, Spain"],"affiliations":[{"raw_affiliation_string":"School of Industrial Engineering, University of Castilla-La Mancha, Ciudad Real, Spain","institution_ids":["https://openalex.org/I79189158"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101538124","display_name":"Jos\u00e9 Emilio Traver","orcid":"https://orcid.org/0000-0003-4966-1494"},"institutions":[{"id":"https://openalex.org/I80606768","display_name":"Universidad de Extremadura","ror":"https://ror.org/0174shg90","country_code":"ES","type":"education","lineage":["https://openalex.org/I80606768"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Jose Emilio Traver","raw_affiliation_strings":["Industrial Engineering School, University of Extremadura, Badajoz, Spain"],"affiliations":[{"raw_affiliation_string":"Industrial Engineering School, University of Extremadura, Badajoz, Spain","institution_ids":["https://openalex.org/I80606768"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020548798","display_name":"In\u00e9s Tejado","orcid":null},"institutions":[{"id":"https://openalex.org/I80606768","display_name":"Universidad de Extremadura","ror":"https://ror.org/0174shg90","country_code":"ES","type":"education","lineage":["https://openalex.org/I80606768"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Ines Tejado","raw_affiliation_strings":["Industrial Engineering School, University of Extremadura, Badajoz, Spain"],"affiliations":[{"raw_affiliation_string":"Industrial Engineering School, University of Extremadura, Badajoz, Spain","institution_ids":["https://openalex.org/I80606768"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101538122","display_name":"Cristina Nuevo\u2010Gallardo","orcid":"https://orcid.org/0000-0001-9756-7641"},"institutions":[{"id":"https://openalex.org/I80606768","display_name":"Universidad de Extremadura","ror":"https://ror.org/0174shg90","country_code":"ES","type":"education","lineage":["https://openalex.org/I80606768"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Cristina Nuevo-Gallardo","raw_affiliation_strings":["Industrial Engineering School, University of Extremadura, Badajoz, Spain"],"affiliations":[{"raw_affiliation_string":"Industrial Engineering School, University of Extremadura, Badajoz, Spain","institution_ids":["https://openalex.org/I80606768"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100657657","display_name":"Miguel A. L\u00f3pez","orcid":"https://orcid.org/0000-0003-0053-9156"},"institutions":[{"id":"https://openalex.org/I80606768","display_name":"Universidad de Extremadura","ror":"https://ror.org/0174shg90","country_code":"ES","type":"education","lineage":["https://openalex.org/I80606768"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Miguel A. Lopez","raw_affiliation_strings":["Industrial Engineering School, University of Extremadura, Badajoz, Spain"],"affiliations":[{"raw_affiliation_string":"Industrial Engineering School, University of Extremadura, Badajoz, Spain","institution_ids":["https://openalex.org/I80606768"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5072043206","display_name":"Blas M. Vinagre","orcid":"https://orcid.org/0000-0001-5039-0738"},"institutions":[{"id":"https://openalex.org/I80606768","display_name":"Universidad de Extremadura","ror":"https://ror.org/0174shg90","country_code":"ES","type":"education","lineage":["https://openalex.org/I80606768"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Blas M. Vinagre","raw_affiliation_strings":["Industrial Engineering School, University of Extremadura, Badajoz, Spain"],"affiliations":[{"raw_affiliation_string":"Industrial Engineering School, University of Extremadura, Badajoz, Spain","institution_ids":["https://openalex.org/I80606768"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5064531700"],"corresponding_institution_ids":["https://openalex.org/I79189158"],"apc_list":null,"apc_paid":null,"fwci":0.1663,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.50518712,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":93},"biblio":{"volume":"3","issue":null,"first_page":"2031","last_page":"2036"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9998999834060669,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9998999834060669,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9886000156402588,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9869999885559082,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/mechanical-impedance","display_name":"Mechanical impedance","score":0.7293245792388916},{"id":"https://openalex.org/keywords/viscoelasticity","display_name":"Viscoelasticity","score":0.7091831564903259},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.7054393291473389},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.608184814453125},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5382293462753296},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5289466381072998},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5281772017478943},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.5184575915336609},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.44225043058395386},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.4251045286655426},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.40138599276542664},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3236294984817505},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.27708524465560913},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27706974744796753},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.19734972715377808},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.09322109818458557},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.07189485430717468}],"concepts":[{"id":"https://openalex.org/C159447365","wikidata":"https://www.wikidata.org/wiki/Q6421317","display_name":"Mechanical impedance","level":3,"score":0.7293245792388916},{"id":"https://openalex.org/C186541917","wikidata":"https://www.wikidata.org/wiki/Q910483","display_name":"Viscoelasticity","level":2,"score":0.7091831564903259},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.7054393291473389},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.608184814453125},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5382293462753296},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5289466381072998},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5281772017478943},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.5184575915336609},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.44225043058395386},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.4251045286655426},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.40138599276542664},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3236294984817505},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.27708524465560913},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27706974744796753},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.19734972715377808},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.09322109818458557},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.07189485430717468},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/smc.2019.8913851","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc.2019.8913851","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Systems, Man and Cybernetics (SMC)","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":26,"referenced_works":["https://openalex.org/W584406582","https://openalex.org/W1973770669","https://openalex.org/W1977873066","https://openalex.org/W1998561306","https://openalex.org/W2017985491","https://openalex.org/W2020251869","https://openalex.org/W2020559479","https://openalex.org/W2063133641","https://openalex.org/W2079489181","https://openalex.org/W2091115525","https://openalex.org/W2099269638","https://openalex.org/W2125881358","https://openalex.org/W2132605873","https://openalex.org/W2142635246","https://openalex.org/W2322259537","https://openalex.org/W2477921776","https://openalex.org/W2506586217","https://openalex.org/W2606385482","https://openalex.org/W2626188485","https://openalex.org/W2785725544","https://openalex.org/W2891286056","https://openalex.org/W2914793940","https://openalex.org/W3106119169","https://openalex.org/W4239838448","https://openalex.org/W4246520131","https://openalex.org/W6721521175"],"related_works":["https://openalex.org/W4312473168","https://openalex.org/W2326585759","https://openalex.org/W4211124276","https://openalex.org/W4312269480","https://openalex.org/W2494833446","https://openalex.org/W2907525962","https://openalex.org/W2011737899","https://openalex.org/W2105126143","https://openalex.org/W4308480823","https://openalex.org/W2573068166"],"abstract_inverted_index":{"Control":[0],"of":[1,20,33,49,81,87,90,98,116],"flexible":[2,39],"robots":[3],"that":[4,17],"interact":[5],"with":[6,28,70],"the":[7,15,30,34,47,62,79,82,88,107,113],"environment":[8,22,35],"presents":[9],"some":[10],"difficulties":[11],"mainly":[12],"due":[13],"to":[14,60,68,77],"fact":[16],"mechanical":[18,31],"impedance":[19,32],"such":[21],"is":[23,93,110],"unknown.":[24],"This":[25],"paper":[26],"deals":[27],"modeling":[29],"when":[36],"an":[37],"one-link":[38],"arm":[40],"contacts":[41],"it.":[42],"Elastic":[43],"and":[44,52],"viscoelastic":[45,114],"models,":[46],"latter":[48],"both":[50],"integer":[51],"fractional":[53,117],"orders,":[54],"are":[55,75],"considered":[56],"in":[57,104],"this":[58],"work":[59],"classify":[61],"contacted":[63],"environment.":[64],"Experimental":[65],"results,":[66],"corresponding":[67],"impacts":[69],"26":[71],"different":[72],"soft":[73],"objects,":[74],"given":[76],"identify":[78],"parameters":[80],"above-mentioned":[83],"models.":[84],"The":[85],"goodness":[86],"adjustment":[89],"each":[91],"model":[92,115],"analyzed":[94],"by":[95,112],"a":[96],"set":[97],"performance":[99],"indices.":[100],"Results":[101],"show":[102],"that,":[103],"most":[105],"cases,":[106],"best":[108],"characterization":[109],"provided":[111],"order.":[118]},"counts_by_year":[{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
