{"id":"https://openalex.org/W2464813316","doi":"https://doi.org/10.1109/tase.2016.2574741","title":"Continuous Tracking Control for a Compliant Actuator With Two-Stage Stiffness","display_name":"Continuous Tracking Control for a Compliant Actuator With Two-Stage Stiffness","publication_year":2016,"publication_date":"2016-06-23","ids":{"openalex":"https://openalex.org/W2464813316","doi":"https://doi.org/10.1109/tase.2016.2574741","mag":"2464813316"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2016.2574741","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2016.2574741","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-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/A5100331032","display_name":"Xiang Li","orcid":"https://orcid.org/0000-0002-0699-1904"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Xiang Li","raw_affiliation_strings":["Department of Biomedical Engineering, National University of Singapore, Singapore"],"raw_orcid":"https://orcid.org/0000-0002-0699-1904","affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015092734","display_name":"Yongping Pan","orcid":"https://orcid.org/0000-0002-8587-6065"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Yongping Pan","raw_affiliation_strings":["Department of Biomedical Engineering, National University of Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030222911","display_name":"Chen Gong","orcid":"https://orcid.org/0000-0002-4092-9856"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Gong Chen","raw_affiliation_strings":["Department of Biomedical Engineering, National University of Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100383575","display_name":"Haoyong Yu","orcid":"https://orcid.org/0000-0002-9876-4863"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Haoyong Yu","raw_affiliation_strings":["Department of Biomedical Engineering, National University of Singapore, Singapore"],"raw_orcid":"https://orcid.org/0000-0002-9876-4863","affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I165932596"],"apc_list":null,"apc_paid":null,"fwci":1.1941,"has_fulltext":false,"cited_by_count":33,"citation_normalized_percentile":{"value":0.78557714,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"15","issue":"1","first_page":"57","last_page":"66"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9998999834060669,"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":0.9998999834060669,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9933000206947327,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9753000140190125,"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/actuator","display_name":"Actuator","score":0.786881685256958},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.7740842700004578},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6476202011108398},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.49341264367103577},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4925854802131653},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.41756415367126465},{"id":"https://openalex.org/keywords/mechanical-impedance","display_name":"Mechanical impedance","score":0.4100586771965027},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.38875558972358704},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3412529230117798},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.33888667821884155},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.2218247652053833},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12983524799346924},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12272581458091736},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.09072872996330261}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.786881685256958},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.7740842700004578},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6476202011108398},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.49341264367103577},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4925854802131653},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.41756415367126465},{"id":"https://openalex.org/C159447365","wikidata":"https://www.wikidata.org/wiki/Q6421317","display_name":"Mechanical impedance","level":3,"score":0.4100586771965027},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.38875558972358704},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3412529230117798},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.33888667821884155},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.2218247652053833},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12983524799346924},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12272581458091736},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.09072872996330261},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2016.2574741","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2016.2574741","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","score":0.699999988079071,"display_name":"Life below water"}],"awards":[{"id":"https://openalex.org/G6136003318","display_name":null,"funder_award_id":"R-261-503-002-133","funder_id":"https://openalex.org/F4320320698","funder_display_name":"National University of Singapore"}],"funders":[{"id":"https://openalex.org/F4320320698","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W59013988","https://openalex.org/W74807133","https://openalex.org/W89510016","https://openalex.org/W1509419794","https://openalex.org/W1521257674","https://openalex.org/W1633007112","https://openalex.org/W1763775273","https://openalex.org/W2017766931","https://openalex.org/W2022561860","https://openalex.org/W2048234784","https://openalex.org/W2078046250","https://openalex.org/W2096178249","https://openalex.org/W2105236479","https://openalex.org/W2106981506","https://openalex.org/W2108870121","https://openalex.org/W2108965296","https://openalex.org/W2111253117","https://openalex.org/W2111898076","https://openalex.org/W2116767351","https://openalex.org/W2124663794","https://openalex.org/W2128137193","https://openalex.org/W2136715573","https://openalex.org/W2147288676","https://openalex.org/W2158641070","https://openalex.org/W2159778584","https://openalex.org/W2166230296","https://openalex.org/W2166978470","https://openalex.org/W2169100281","https://openalex.org/W2293200354","https://openalex.org/W6603098663","https://openalex.org/W6631331923","https://openalex.org/W6674759953","https://openalex.org/W6678727953"],"related_works":["https://openalex.org/W1659356714","https://openalex.org/W2968893651","https://openalex.org/W1991133586","https://openalex.org/W1548357495","https://openalex.org/W2314048082","https://openalex.org/W1968487248","https://openalex.org/W2052513766","https://openalex.org/W2097006611","https://openalex.org/W1831760065","https://openalex.org/W2219113400"],"abstract_inverted_index":{"Emerging":[0],"applications":[1],"of":[2,15,18,33,43,82,93,168,175,190,241,250,310],"robots":[3],"with":[4,8,53,119,261],"direct":[5],"physical":[6],"interactions":[7],"humans":[9],"have":[10],"led":[11],"to":[12,59,186,198,224],"the":[13,40,44,61,91,116,123,128,155,165,169,176,188,191,209,248,256,279,284,289,307,311],"development":[14],"a":[16,50,72,76,83,109,142,251,258,273],"variety":[17],"series":[19],"elastic":[20,206],"actuators":[21],"(SEAs)":[22],"which":[23,89,232],"are":[24,79,179,184],"compliant,":[25],"force":[26,102,167,309],"controllable,":[27],"and":[28,75,99,104,152,157,173,181,227,300],"back":[29],"drivable.":[30],"The":[31,67,145,171,239],"performance":[32,62,240],"current":[34,65,87],"SEAs":[35,214,243],"is":[36,70,113,126,131,150,159,201,244,287,298,313,331],"mainly":[37],"dependent":[38,246],"on":[39,247],"specific":[41],"stiffness":[42,55,125,249,263,286],"spring.":[45,253],"In":[46,106,315],"our":[47,267],"previous":[48,268],"work,":[49],"compliant":[51,117,281],"actuator":[52,118,312,320],"two-stage":[54,120,262],"has":[56,90],"been":[57],"designed":[58],"overcome":[60,255],"limitations":[63],"in":[64,86,266,319],"SEAs.":[66],"key":[68],"novelty":[69],"that":[71,306,326],"low-stiffness":[73],"spring":[74,78,85],"high-stiffness":[77],"employed":[80],"instead":[81],"single":[84,143,252],"SEAs,":[88],"advantages":[92],"high":[94],"fidelity,":[95],"low":[96,219],"output":[97,166,221,308],"impedance,":[98,222],"also":[100,160],"large":[101],"range":[103],"bandwidth.":[105],"this":[107,211],"paper,":[108],"tracking":[110,275],"control":[111,136,148,193,276,293],"scheme":[112],"proposed":[114,129,192,265,280],"for":[115,138,236,278,295],"stiffness.":[121],"Although":[122,283],"overall":[124,285],"discontinuous,":[127,288],"controller":[130],"continuous":[132,274],"by":[133,163,203],"integrating":[134],"different":[135,292],"modes":[137,149,294],"two":[139,296],"springs":[140,297],"into":[141,208],"one.":[144],"transition":[146,290],"between":[147,291],"smooth":[151,299],"embedded":[153],"inside":[154],"controller,":[156],"it":[158,234],"automatically":[161,301],"realized":[162],"monitoring":[164],"actuator.":[170,282],"stability":[172],"convergence":[174],"closed-loop":[177],"system":[178,327],"analyzed,":[180],"experimental":[182],"results":[183,304],"presented":[185],"demonstrate":[187],"effectiveness":[189],"scheme.":[194],"<p":[195],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[196],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><i>Note":[197],"Practitioners</i>\u2014An":[199],"SEA":[200,260],"developed":[202],"placing":[204],"an":[205],"element":[207],"actuator;":[210],"elasticity":[212],"gives":[213],"several":[215],"unique":[216],"properties":[217],"including":[218],"mechanical":[220,229],"tolerance":[223],"impact":[225],"loads,":[226],"passive":[228],"energy":[230],"storage,":[231],"makes":[233],"suitable":[235],"human\u2013robot":[237],"interaction.":[238],"existing":[242],"highly":[245],"To":[254],"limitations,":[257],"novel":[259],"was":[264],"work.":[269],"This":[270],"paper":[271],"suggests":[272],"method":[277],"realized.":[302],"Experimental":[303],"show":[305],"bounded.":[314],"future":[316],"research,":[317],"uncertainties":[318],"dynamics":[321],"will":[322],"be":[323],"considered,":[324],"such":[325],"identification":[328],"or":[329],"calibration":[330],"not":[332],"required.":[333]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":5}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
