{"id":"https://openalex.org/W4411867032","doi":"https://doi.org/10.1109/tase.2025.3584757","title":"Ablation Study on Features in Learning-Based Joint Calibration of Cable-Driven Surgical Robots","display_name":"Ablation Study on Features in Learning-Based Joint Calibration of Cable-Driven Surgical Robots","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4411867032","doi":"https://doi.org/10.1109/tase.2025.3584757"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2025.3584757","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3584757","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/A5080890753","display_name":"Haonan Peng","orcid":"https://orcid.org/0000-0001-8909-3343"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Haonan Peng","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Washington, Seattle, WA, USA","University of Washington, Seattle, WA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I201448701"]},{"raw_affiliation_string":"University of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082077038","display_name":"Andrew Lewis","orcid":"https://orcid.org/0000-0002-3714-6711"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Andrew Lewis","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Washington, Seattle, WA, USA","University of Washington, Seattle, WA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I201448701"]},{"raw_affiliation_string":"University of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030494145","display_name":"Yun-Hsuan Su","orcid":"https://orcid.org/0000-0002-9122-7264"},"institutions":[{"id":"https://openalex.org/I150693791","display_name":"Mount Holyoke College","ror":"https://ror.org/031z8pr38","country_code":"US","type":"education","lineage":["https://openalex.org/I150693791"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yun-Hsuan Su","raw_affiliation_strings":["Department of Computer Science, Mount Holyoke College, South Hadley, MA, USA","Mount Holyoke College, South Hadley, MA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Mount Holyoke College, South Hadley, MA, USA","institution_ids":["https://openalex.org/I150693791"]},{"raw_affiliation_string":"Mount Holyoke College, South Hadley, MA, USA","institution_ids":["https://openalex.org/I150693791"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074967911","display_name":"Blake Hannaford","orcid":"https://orcid.org/0000-0001-7370-4920"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Blake Hannaford","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Washington, Seattle, WA, USA","University of Washington, Seattle, WA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I201448701"]},{"raw_affiliation_string":"University of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I201448701"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5080890753"],"corresponding_institution_ids":["https://openalex.org/I201448701"],"apc_list":null,"apc_paid":null,"fwci":0.6815,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.70455359,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"22","issue":null,"first_page":"17680","last_page":"17695"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9934999942779541,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9934999942779541,"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/T11366","display_name":"Elasticity and Material Modeling","score":0.941100001335144,"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/T11984","display_name":"Anatomy and Medical Technology","score":0.9289000034332275,"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/surgical-robot","display_name":"Surgical robot","score":0.7658655643463135},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.723522424697876},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.6441997289657593},{"id":"https://openalex.org/keywords/ablation","display_name":"Ablation","score":0.5839095115661621},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.531956672668457},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.43018871545791626},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3955947160720825},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.36879879236221313},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.32914048433303833},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.3226678967475891},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.1790652573108673},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15606507658958435},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.08865678310394287}],"concepts":[{"id":"https://openalex.org/C3017684034","wikidata":"https://www.wikidata.org/wiki/Q942348","display_name":"Surgical robot","level":3,"score":0.7658655643463135},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.723522424697876},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.6441997289657593},{"id":"https://openalex.org/C2778902805","wikidata":"https://www.wikidata.org/wiki/Q322177","display_name":"Ablation","level":2,"score":0.5839095115661621},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.531956672668457},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.43018871545791626},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3955947160720825},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.36879879236221313},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.32914048433303833},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.3226678967475891},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.1790652573108673},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15606507658958435},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.08865678310394287},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2025.3584757","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3584757","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":[{"id":"https://openalex.org/G8014695427","display_name":null,"funder_award_id":"2414896","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W1489280848","https://openalex.org/W1963716360","https://openalex.org/W1964047266","https://openalex.org/W1988707210","https://openalex.org/W2025894933","https://openalex.org/W2061417916","https://openalex.org/W2084756473","https://openalex.org/W2088392499","https://openalex.org/W2132203209","https://openalex.org/W2146481048","https://openalex.org/W2196712401","https://openalex.org/W2201321853","https://openalex.org/W2409535612","https://openalex.org/W2591901555","https://openalex.org/W2735048916","https://openalex.org/W2738671059","https://openalex.org/W2744915044","https://openalex.org/W2789029145","https://openalex.org/W2941276819","https://openalex.org/W2944217089","https://openalex.org/W2963553847","https://openalex.org/W2974176124","https://openalex.org/W3035333927","https://openalex.org/W3080571272","https://openalex.org/W3091136449","https://openalex.org/W3094103188","https://openalex.org/W3095800893","https://openalex.org/W3115373916","https://openalex.org/W3196757288","https://openalex.org/W3201125930","https://openalex.org/W3206177224","https://openalex.org/W4213224450","https://openalex.org/W4283322378","https://openalex.org/W4285309763","https://openalex.org/W4378192236","https://openalex.org/W4404928274","https://openalex.org/W6631190155","https://openalex.org/W6747620207","https://openalex.org/W6751034198","https://openalex.org/W6758949196"],"related_works":["https://openalex.org/W2913786724","https://openalex.org/W2357783023","https://openalex.org/W2013863777","https://openalex.org/W2118389769","https://openalex.org/W4394573179","https://openalex.org/W3020408180","https://openalex.org/W2917979353","https://openalex.org/W4286313746","https://openalex.org/W2333062987","https://openalex.org/W1979551339"],"abstract_inverted_index":{"Surgical":[0],"robots":[1],"equipped":[2],"with":[3,142],"cable-driven":[4],"mechanisms":[5],"have":[6],"flexible,":[7],"light,":[8],"and":[9,12,18,30,52,73,78,90,119,155,159,174],"compact":[10],"arms":[11],"tools.":[13],"However,":[14],"cable":[15],"slack,":[16],"stretch,":[17],"gear":[19],"backlash":[20],"introduce":[21],"unavoidable":[22],"errors":[23,68],"from":[24,115],"motor":[25,91,124],"positions":[26,29,89,114],"to":[27,57,169],"joint":[28,39,66,88,113],"the":[31,44,61,65,94,107,116,121,132,147,163,167],"end-effector":[32,117],"pose.":[33],"This":[34],"paper":[35],"presents":[36],"a":[37],"learning-based":[38,62],"position":[40,67],"calibration":[41,100],"method":[42],"for":[43,99,137],"RAVEN-II":[45],"surgical":[46],"robot,":[47],"employing":[48],"deep":[49],"neural":[50],"networks":[51],"gated":[53],"recurrent":[54],"units.":[55],"Compared":[56],"fixed":[58],"offset":[59],"compensation,":[60],"calibrations":[63],"reduce":[64],"by":[69],"over":[70,126],"62.4%":[71],"(unloaded)":[72],"54.8%":[74],"(loaded).":[75],"Furthermore,":[76],"removal":[77],"inaccurate":[79],"ablation":[80],"studies":[81,103],"on":[82,166],"input":[83,149],"features":[84],"identify":[85],"that":[86,106],"raw":[87],"torques":[92,125],"are":[93,109,153,176],"most":[95],"important":[96],"model":[97],"inputs":[98],"accuracy.":[101],"These":[102],"also":[104,135],"reveal":[105],"models":[108,133,152],"capable":[110],"of":[111,123],"inferring":[112],"pose":[118],"prioritize":[120],"direction":[122],"their":[127],"amplitude.":[128],"When":[129],"guided":[130],"appropriately,":[131],"can":[134],"compensate":[136],"encoder":[138],"value":[139],"inconsistencies":[140],"occurring":[141],"robot":[143],"re-homings.":[144],"By":[145],"excluding":[146],"unnecessary":[148],"features,":[150],"lightweight":[151],"developed":[154],"achieve":[156],"better":[157],"performance":[158],"efficiency":[160],"simultaneously,":[161],"reducing":[162],"training":[164],"time":[165],"CPU":[168],"2.5":[170],"minutes.":[171],"All":[172],"data":[173],"code":[175],"open-source":[177],"at":[178],"https://github.com/uw-biorobotics/RAVEN-2-Feature-Ablation.":[179]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-03-27T14:29:43.386196","created_date":"2025-10-10T00:00:00"}
