{"id":"https://openalex.org/W4410852219","doi":"https://doi.org/10.1109/tase.2025.3574853","title":"Smooth Surface-to-Surface Contact Control for Rope-Base Soft-Tip Manipulator","display_name":"Smooth Surface-to-Surface Contact Control for Rope-Base Soft-Tip Manipulator","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4410852219","doi":"https://doi.org/10.1109/tase.2025.3574853"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2025.3574853","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3574853","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/A5101192270","display_name":"Guangli Sun","orcid":"https://orcid.org/0000-0002-6704-1195"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Guangli Sun","raw_affiliation_strings":["Department of Mechanical and Automation Engineering, T Stone Robotics Institute, The Chinese University of Hong Kong, Shatin, SAR, Hong Kong","Department of Mechanical and Automation Engineering, T Stone Robotics Institute, The Chinese University of Hong Kong, HKSAR, Shatin, Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, T Stone Robotics Institute, The Chinese University of Hong Kong, Shatin, SAR, Hong Kong","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, T Stone Robotics Institute, The Chinese University of Hong Kong, HKSAR, Shatin, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010124359","display_name":"Fangxun Zhong","orcid":"https://orcid.org/0000-0002-1151-1995"},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fangxun Zhong","raw_affiliation_strings":["School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, China","institution_ids":["https://openalex.org/I4210116924"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100432616","display_name":"Peng Li","orcid":"https://orcid.org/0000-0001-5438-0756"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peng Li","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Harbin Institute of Technology at Shenzhen, Shenzhen, China","School of Mechanical Engineering and Automation, Harbin Institute of Technology Shenzhen, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technology at Shenzhen, Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technology Shenzhen, Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026175357","display_name":"Linzhu Yue","orcid":"https://orcid.org/0000-0001-5244-6600"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Linzhu Yue","raw_affiliation_strings":["Department of Mechanical and Automation Engineering, T Stone Robotics Institute, The Chinese University of Hong Kong, Shatin, SAR, Hong Kong","Department of Mechanical and Automation Engineering, T Stone Robotics Institute, The Chinese University of Hong Kong, HKSAR, Shatin, Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, T Stone Robotics Institute, The Chinese University of Hong Kong, Shatin, SAR, Hong Kong","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, T Stone Robotics Institute, The Chinese University of Hong Kong, HKSAR, Shatin, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100456792","display_name":"Zhi Chen","orcid":"https://orcid.org/0000-0001-5644-3108"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhi Chen","raw_affiliation_strings":["Department of Mechanical and Automation Engineering, T Stone Robotics Institute, The Chinese University of Hong Kong, Shatin, SAR, Hong Kong","Department of Mechanical and Automation Engineering, T Stone Robotics Institute, The Chinese University of Hong Kong, HKSAR, Shatin, Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, T Stone Robotics Institute, The Chinese University of Hong Kong, Shatin, SAR, Hong Kong","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, T Stone Robotics Institute, The Chinese University of Hong Kong, HKSAR, Shatin, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100331032","display_name":"Xiang Li","orcid":"https://orcid.org/0000-0002-0699-1904"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiang Li","raw_affiliation_strings":["Department of Automation, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Department of Automation, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100707660","display_name":"Yunhui Liu","orcid":"https://orcid.org/0000-0002-3625-6679"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yun-Hui Liu","raw_affiliation_strings":["Department of Mechanical and Automation Engineering, T Stone Robotics Institute, The Chinese University of Hong Kong, Shatin, SAR, Hong Kong","Department of Mechanical and Automation Engineering, T Stone Robotics Institute, The Chinese University of Hong Kong, HKSAR, Shatin, Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, T Stone Robotics Institute, The Chinese University of Hong Kong, Shatin, SAR, Hong Kong","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, T Stone Robotics Institute, The Chinese University of Hong Kong, HKSAR, Shatin, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5101192270"],"corresponding_institution_ids":["https://openalex.org/I177725633"],"apc_list":null,"apc_paid":null,"fwci":0.699,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.69841175,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"22","issue":null,"first_page":"16297","last_page":"16308"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.9926000237464905,"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/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.9926000237464905,"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/T11799","display_name":"Adhesion, Friction, and Surface Interactions","score":0.9873999953269958,"subfield":{"id":"https://openalex.org/subfields/2211","display_name":"Mechanics of Materials"},"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":0.9840999841690063,"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/rope","display_name":"Rope","score":0.817694902420044},{"id":"https://openalex.org/keywords/surface","display_name":"Surface (topology)","score":0.6520856618881226},{"id":"https://openalex.org/keywords/base","display_name":"Base (topology)","score":0.5033034682273865},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.49108338356018066},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.4438541829586029},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.4244233965873718},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.41416260600090027},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3796595633029938},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.36155450344085693},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33760905265808105},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.33573463559150696},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.32129091024398804},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.31333810091018677},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.15503624081611633},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1454196572303772},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.14507168531417847},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13647004961967468}],"concepts":[{"id":"https://openalex.org/C162269090","wikidata":"https://www.wikidata.org/wiki/Q1156047","display_name":"Rope","level":2,"score":0.817694902420044},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.6520856618881226},{"id":"https://openalex.org/C42058472","wikidata":"https://www.wikidata.org/wiki/Q810214","display_name":"Base (topology)","level":2,"score":0.5033034682273865},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.49108338356018066},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.4438541829586029},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.4244233965873718},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.41416260600090027},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3796595633029938},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.36155450344085693},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33760905265808105},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.33573463559150696},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32129091024398804},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.31333810091018677},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.15503624081611633},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1454196572303772},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.14507168531417847},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13647004961967468},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2025.3574853","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3574853","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":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1541925238","https://openalex.org/W1548528537","https://openalex.org/W1577982787","https://openalex.org/W1980049827","https://openalex.org/W2006979842","https://openalex.org/W2008793719","https://openalex.org/W2070673379","https://openalex.org/W2091271588","https://openalex.org/W2105081710","https://openalex.org/W2120869611","https://openalex.org/W2150024155","https://openalex.org/W2247230765","https://openalex.org/W2467185734","https://openalex.org/W2516098320","https://openalex.org/W2535974361","https://openalex.org/W2590541183","https://openalex.org/W2783009944","https://openalex.org/W2789837488","https://openalex.org/W2791316910","https://openalex.org/W2792539092","https://openalex.org/W2809461179","https://openalex.org/W2898401245","https://openalex.org/W2908388255","https://openalex.org/W3001720679","https://openalex.org/W3004179699","https://openalex.org/W3022759599","https://openalex.org/W3197325897","https://openalex.org/W4283379608","https://openalex.org/W4313155784","https://openalex.org/W4399469378","https://openalex.org/W4406881428","https://openalex.org/W6773085499","https://openalex.org/W6804203794"],"related_works":["https://openalex.org/W2382190654","https://openalex.org/W2041034200","https://openalex.org/W2373129217","https://openalex.org/W1924903628","https://openalex.org/W2375717371","https://openalex.org/W4390286213","https://openalex.org/W2372453219","https://openalex.org/W3173532932","https://openalex.org/W2393872772","https://openalex.org/W3172293894"],"abstract_inverted_index":{"A":[0],"new":[1],"control":[2,27],"pipeline":[3,28,57,135],"has":[4,136],"been":[5,137],"proposed":[6,134,164],"for":[7,33,125],"the":[8,15,21,34,41,48,77,93,101,129,158,163],"Rope-Base":[9],"Soft-tip":[10],"Manipulator":[11,144],"(RBSM)":[12],"to":[13,19,72,76,91,100,112,146],"execute":[14],"surface":[16,50,97,177],"contact":[17,32,63],"task":[18],"prevent":[20],"jamming":[22,115],"and":[23,52,87,105,116,154,169],"slipping":[24],"problems.":[25],"The":[26,56,133,152],"enables":[29],"smooth":[30,102,126,167],"surface-to-surface":[31],"RBSM":[35,94],"using":[36],"only":[37],"force":[38,69,74,86,110,153],"sensors,":[39],"eliminating":[40],"dependence":[42],"on":[43,128],"additional":[44],"pose":[45],"measurement":[46],"of":[47,59],"window":[49,78,103,131,150],"plane":[51],"soft-tip":[53],"deformation":[54],"information.":[55],"consists":[58],"three":[60],"steps:":[61],"free":[62],"step":[64,82,111],"implemented":[65,83],"by":[66,84],"an":[67],"exponential":[68],"shape":[70],"controller":[71,90],"avoid":[73],"overshoot":[75],"surface;":[79,104],"orientation":[80],"refinement":[81],"a":[85,107,120,140,148],"torque":[88],"combined":[89],"make":[92],"cleaning":[95,123,127,159,170],"head":[96,114],"stable":[98],"adapt":[99],"finally,":[106],"release":[108],"normal":[109],"reduce":[113],"region":[117],"covering":[118],"with":[119],"pre-defined":[121],"vibration-less":[122],"trajectory":[124],"slippery":[130],"surface.":[132,151],"validated":[138],"in":[139,176],"Rope":[141],"base":[142],"Cleaning":[143],"prototype":[145],"clean":[147],"common":[149],"velocity":[155],"curves":[156],"during":[157],"experiment":[160],"show":[161],"that":[162],"method":[165],"achieves":[166],"scraping":[168],"under":[171],"unknown":[172],"initial":[173],"significant":[174],"errors":[175],"orientation.":[178]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}