{"id":"https://openalex.org/W4415707172","doi":"https://doi.org/10.1109/tase.2025.3627234","title":"Design of a Novel Force-Controlled End-Effector With Passive Structural Compliance and Intrinsic Contact Sensing","display_name":"Design of a Novel Force-Controlled End-Effector With Passive Structural Compliance and Intrinsic Contact Sensing","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4415707172","doi":"https://doi.org/10.1109/tase.2025.3627234"},"language":null,"primary_location":{"id":"doi:10.1109/tase.2025.3627234","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3627234","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/A5101970077","display_name":"Tianyi Yan","orcid":"https://orcid.org/0009-0007-4555-3943"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["CN","US"],"is_corresponding":true,"raw_author_name":"Tianyi Yan","raw_affiliation_strings":["Shanghai Key Laboratory of Intelligent Robotics, Meta Robotics Institute, Shanghai Jiao Tong University, Shanghai, China","Meta Robotics Institute, Shanghai Key Laboratory of Intelligent Robotics, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Shanghai Key Laboratory of Intelligent Robotics, Meta Robotics Institute, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"Meta Robotics Institute, Shanghai Key Laboratory of Intelligent Robotics, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042846422","display_name":"Jianhuan Chen","orcid":"https://orcid.org/0009-0008-2913-2142"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"Jianhuan Chen","raw_affiliation_strings":["Shanghai Key Laboratory of Intelligent Robotics, Meta Robotics Institute, Shanghai Jiao Tong University, Shanghai, China","Meta Robotics Institute, Shanghai Key Laboratory of Intelligent Robotics, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Shanghai Key Laboratory of Intelligent Robotics, Meta Robotics Institute, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"Meta Robotics Institute, Shanghai Key Laboratory of Intelligent Robotics, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049873256","display_name":"Siyue Yao","orcid":"https://orcid.org/0000-0003-2562-3055"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"Siyue Yao","raw_affiliation_strings":["Shanghai Key Laboratory of Intelligent Robotics, Meta Robotics Institute, Shanghai Jiao Tong University, Shanghai, China","Meta Robotics Institute, Shanghai Key Laboratory of Intelligent Robotics, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Shanghai Key Laboratory of Intelligent Robotics, Meta Robotics Institute, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"Meta Robotics Institute, Shanghai Key Laboratory of Intelligent Robotics, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102427597","display_name":"Xuyang Duan","orcid":null},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"Xuyang Duan","raw_affiliation_strings":["Shanghai Key Laboratory of Intelligent Robotics, the Meta Robotics Institute, and the State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, China","Meta Robotics Institute, Shanghai Key Laboratory of Intelligent Robotics, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Shanghai Key Laboratory of Intelligent Robotics, the Meta Robotics Institute, and the State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"Meta Robotics Institute, Shanghai Key Laboratory of Intelligent Robotics, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114526328","display_name":"Yanjun Wang","orcid":"https://orcid.org/0009-0007-4706-8853"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]},{"id":"https://openalex.org/I4210105312","display_name":"Shanghai Power Equipment Research Institute","ror":"https://ror.org/01pw44479","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210105312"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanjun Wang","raw_affiliation_strings":["Institute of Marine Equipment, Shanghai Jiao Tong University, Shanghai, China","institute of Marine Equipment, Shanghai Jiao Tong University, Shanghai, P.R. China"],"affiliations":[{"raw_affiliation_string":"Institute of Marine Equipment, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"institute of Marine Equipment, Shanghai Jiao Tong University, Shanghai, P.R. China","institution_ids":["https://openalex.org/I4210105312"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5116592778","display_name":"Hao Wang","orcid":"https://orcid.org/0000-0003-2227-075X"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Wang","raw_affiliation_strings":["State Key Laboratory of Mechanical System and Vibration and Shanghai Key Laboratory of Digital Manufacturing for Thin-Walled Structures, Shanghai Jiao Tong University, Shanghai, China","State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Mechanical System and Vibration and Shanghai Key Laboratory of Digital Manufacturing for Thin-Walled Structures, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012109138","display_name":"Genliang Chen","orcid":"https://orcid.org/0000-0002-1011-2116"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"Genliang Chen","raw_affiliation_strings":["Shanghai Key Laboratory of Intelligent Robotics, the Meta Robotics Institute, and the State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, China","Meta Robotics Institute, Shanghai Key Laboratory of Intelligent Robotics, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Shanghai Key Laboratory of Intelligent Robotics, the Meta Robotics Institute, and the State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"Meta Robotics Institute, Shanghai Key Laboratory of Intelligent Robotics, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I4210116723"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5101970077"],"corresponding_institution_ids":["https://openalex.org/I183067930","https://openalex.org/I4210116723"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.3008375,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"22","issue":null,"first_page":"23202","last_page":"23213"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.3961000144481659,"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":0.3961000144481659,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.26489999890327454,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.11209999769926071,"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/strain-gauge","display_name":"Strain gauge","score":0.6599000096321106},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.6420999765396118},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4316999912261963},{"id":"https://openalex.org/keywords/grinding","display_name":"Grinding","score":0.41429999470710754},{"id":"https://openalex.org/keywords/compliant-mechanism","display_name":"Compliant mechanism","score":0.38589999079704285},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.3774999976158142},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.361299991607666}],"concepts":[{"id":"https://openalex.org/C60584519","wikidata":"https://www.wikidata.org/wiki/Q610723","display_name":"Strain gauge","level":2,"score":0.6599000096321106},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.6420999765396118},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.5070000290870667},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4738999903202057},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4316999912261963},{"id":"https://openalex.org/C2777571299","wikidata":"https://www.wikidata.org/wiki/Q3680646","display_name":"Grinding","level":2,"score":0.41429999470710754},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.3878999948501587},{"id":"https://openalex.org/C79772673","wikidata":"https://www.wikidata.org/wiki/Q5156643","display_name":"Compliant mechanism","level":3,"score":0.38589999079704285},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.3774999976158142},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.361299991607666},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.35530000925064087},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3368000090122223},{"id":"https://openalex.org/C204366326","wikidata":"https://www.wikidata.org/wiki/Q3027650","display_name":"Deformation (meteorology)","level":2,"score":0.3337000012397766},{"id":"https://openalex.org/C179909247","wikidata":"https://www.wikidata.org/wiki/Q1783143","display_name":"Contact mechanics","level":3,"score":0.3246000111103058},{"id":"https://openalex.org/C33373654","wikidata":"https://www.wikidata.org/wiki/Q5164821","display_name":"Contact area","level":2,"score":0.3222000002861023},{"id":"https://openalex.org/C165846633","wikidata":"https://www.wikidata.org/wiki/Q541008","display_name":"Normal force","level":2,"score":0.3084000051021576},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3046000003814697},{"id":"https://openalex.org/C8590192","wikidata":"https://www.wikidata.org/wiki/Q1054694","display_name":"Frequency response","level":2,"score":0.287200003862381},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.2842999994754791},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2793000042438507},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.26570001244544983},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2531999945640564}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2025.3627234","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3627234","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/G4796036674","display_name":null,"funder_award_id":"52022056","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8892478176","display_name":null,"funder_award_id":"CBG01N23-04-03","funder_id":"https://openalex.org/F4320323970","funder_display_name":"Ministry of Industry and Information Technology of the People's Republic of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320323970","display_name":"Ministry of Industry and Information Technology of the People's Republic of China","ror":"https://ror.org/0385nmy68"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1968907598","https://openalex.org/W1989503596","https://openalex.org/W1993526495","https://openalex.org/W2011794982","https://openalex.org/W2039136897","https://openalex.org/W2039157407","https://openalex.org/W2047650998","https://openalex.org/W2088324165","https://openalex.org/W2278648091","https://openalex.org/W2620810193","https://openalex.org/W2785973553","https://openalex.org/W2803632469","https://openalex.org/W2908280493","https://openalex.org/W2919644222","https://openalex.org/W3048927104","https://openalex.org/W3130510843","https://openalex.org/W3160881767","https://openalex.org/W3210882399","https://openalex.org/W4303574781","https://openalex.org/W4309947076","https://openalex.org/W4312938555","https://openalex.org/W4386763015","https://openalex.org/W4386869592","https://openalex.org/W4390611880","https://openalex.org/W4393241090","https://openalex.org/W4399469378","https://openalex.org/W4399773584","https://openalex.org/W4400727515","https://openalex.org/W4406142040","https://openalex.org/W4407252924"],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,106,133,142],"novel":[4],"active":[5],"force-controlled":[6],"end-effector":[7,25,51,96,125],"with":[8,26,52,75,132],"passive":[9],"structural":[10,27],"compliance":[11,28],"and":[12,97],"intrinsic":[13,53],"contact":[14,73,92,129],"sensing":[15,54],"capabilities.":[16],"Slender":[17],"elastic":[18,46],"beams":[19,47],"are":[20,41,110],"introduced":[21],"to":[22,29,48,63,71,88,112],"provide":[23],"the":[24,44,50,65,72,76,91,95,98,114,117,124,128,148],"accommodate":[30],"inevitable":[31],"fluctuations":[32],"through":[33],"deformation":[34],"during":[35],"operation.":[36],"Meanwhile,":[37],"flexible":[38],"strain":[39,69],"gauges":[40,70],"embedded":[42],"into":[43],"slender":[45],"endow":[49],"capability.":[55],"A":[56,100],"kinetostatic":[57],"model":[58],"is":[59,102],"established":[60],"in":[61],"closed-form":[62],"map":[64],"local":[66],"deflections":[67],"of":[68,108,116,136,144],"force":[74,93,130],"environment.":[77],"On":[78],"this":[79],"basis,":[80],"model-based":[81],"feedback":[82],"control":[83,127],"can":[84,126],"be":[85],"readily":[86],"implemented":[87],"actively":[89],"adjust":[90],"between":[94],"workpiece.":[99],"prototype":[101,150],"developed,":[103],"on":[104],"which":[105],"variety":[107],"experiments":[109],"conducted":[111],"validate":[113],"effectiveness":[115],"proposed":[118],"end-effector.":[119],"The":[120],"results":[121],"demonstrate":[122],"that":[123],"accurately,":[131],"maximum":[134],"error":[135],"around":[137],"0.65<italic":[138],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[139],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">N</i>.":[140],"Furthermore,":[141],"demonstration":[143],"robotic":[145],"grinding":[146],"using":[147],"developed":[149],"showcases":[151],"its":[152],"potential":[153],"for":[154],"practical":[155],"applications.":[156]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-30T00:00:00"}
