{"id":"https://openalex.org/W7123463036","doi":"https://doi.org/10.1109/tase.2026.3653799","title":"An Adaptive Robust Enhanced Time-Delay Impedance Controller for a Cell Puncture Device With Soft Contact Environment","display_name":"An Adaptive Robust Enhanced Time-Delay Impedance Controller for a Cell Puncture Device With Soft Contact Environment","publication_year":2026,"publication_date":"2026-01-01","ids":{"openalex":"https://openalex.org/W7123463036","doi":"https://doi.org/10.1109/tase.2026.3653799"},"language":null,"primary_location":{"id":"doi:10.1109/tase.2026.3653799","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2026.3653799","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/A5063167569","display_name":"Zhicheng Song","orcid":null},"institutions":[{"id":"https://openalex.org/I47689461","display_name":"Northeast Forestry University","ror":"https://ror.org/02yxnh564","country_code":"CN","type":"education","lineage":["https://openalex.org/I47689461"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhicheng Song","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Northeast Forestry University, Harbin, China"],"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Northeast Forestry University, Harbin, China","institution_ids":["https://openalex.org/I47689461"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5122949051","display_name":"Yang Wu","orcid":null},"institutions":[{"id":"https://openalex.org/I167027274","display_name":"Nanjing Forestry University","ror":"https://ror.org/03m96p165","country_code":"CN","type":"education","lineage":["https://openalex.org/I167027274"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Wu","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Nanjing Forestry University, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Nanjing Forestry University, Nanjing, China","institution_ids":["https://openalex.org/I167027274"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yaoyao Wang","orcid":"https://orcid.org/0000-0001-5237-378X"},"institutions":[{"id":"https://openalex.org/I47689461","display_name":"Northeast Forestry University","ror":"https://ror.org/02yxnh564","country_code":"CN","type":"education","lineage":["https://openalex.org/I47689461"]},{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yaoyao Wang","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","College of Mechanical and Electrical Engineering, Northeast Forestry University, Harbin, China"],"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]},{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Northeast Forestry University, Harbin, China","institution_ids":["https://openalex.org/I47689461"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006784309","display_name":"Jie Ling","orcid":null},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jie Ling","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"last","author":{"id":null,"display_name":"Yangwei Wang","orcid":"https://orcid.org/0000-0003-2947-7024"},"institutions":[{"id":"https://openalex.org/I47689461","display_name":"Northeast Forestry University","ror":"https://ror.org/02yxnh564","country_code":"CN","type":"education","lineage":["https://openalex.org/I47689461"]},{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yangwei Wang","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","College of Mechanical and Electrical Engineering, Northeast Forestry University, Harbin, China"],"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]},{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Northeast Forestry University, Harbin, China","institution_ids":["https://openalex.org/I47689461"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5063167569"],"corresponding_institution_ids":["https://openalex.org/I47689461"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.09470095,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"23","issue":null,"first_page":"2500","last_page":"2510"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.8206999897956848,"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"}},"topics":[{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.8206999897956848,"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"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.09210000187158585,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.04179999977350235,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7994999885559082},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7368999719619751},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.5777999758720398},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.5242999792098999},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.5055000185966492},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.45260000228881836},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.3910999894142151}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7994999885559082},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7368999719619751},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.5777999758720398},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5263000130653381},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.5242999792098999},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.5055000185966492},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.45260000228881836},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.3910999894142151},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.3702000081539154},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.366100013256073},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.3425999879837036},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3125},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.30489999055862427},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.2791000008583069},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.2759999930858612},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.27070000767707825},{"id":"https://openalex.org/C2778132902","wikidata":"https://www.wikidata.org/wiki/Q6042725","display_name":"Integral sliding mode","level":4,"score":0.26739999651908875},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.26649999618530273}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2026.3653799","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2026.3653799","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/G2128306053","display_name":null,"funder_award_id":"52175097","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4265004433","display_name":null,"funder_award_id":"NT2023011","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G6136395067","display_name":null,"funder_award_id":"51975277","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation 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/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W1971942874","https://openalex.org/W2031185015","https://openalex.org/W2032577978","https://openalex.org/W2061090726","https://openalex.org/W2399731623","https://openalex.org/W2607512581","https://openalex.org/W2789837488","https://openalex.org/W2800678287","https://openalex.org/W2805995208","https://openalex.org/W2933028449","https://openalex.org/W2941214179","https://openalex.org/W2981467816","https://openalex.org/W3010275051","https://openalex.org/W3016925477","https://openalex.org/W3043956399","https://openalex.org/W3080979359","https://openalex.org/W3166517573","https://openalex.org/W4210932791","https://openalex.org/W4388838109","https://openalex.org/W4389670273","https://openalex.org/W4391741561","https://openalex.org/W4392979563","https://openalex.org/W4394585968","https://openalex.org/W4402568737","https://openalex.org/W4406387938","https://openalex.org/W4406815170","https://openalex.org/W4407128408","https://openalex.org/W4408568358","https://openalex.org/W4411019480","https://openalex.org/W4411989328","https://openalex.org/W4413120458","https://openalex.org/W4413212976","https://openalex.org/W4414165723","https://openalex.org/W4414166090","https://openalex.org/W4414619318","https://openalex.org/W4415481200"],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,33,49,61,99],"novel":[4],"adaptive":[5,101],"robust":[6,102],"enhanced":[7,82],"time-delay":[8,78,88,91],"impedance":[9,39],"controller":[10],"(ARETDIC)":[11],"based":[12],"on":[13],"the":[14,38,44,58,76,86,94,108,117,123,127,132,143,147,153,160],"Hunt\u2013Crossley":[15],"(HC)":[16],"model.":[17],"The":[18,114,139],"proposed":[19,69,118,133,144],"ARETDIC":[20,119,134,145],"is":[21,41,68,81,104,120],"used":[22],"to":[23,106,152],"precisely":[24],"control":[25,79,149],"force/position":[26],"for":[27,85],"cell":[28,161],"puncture":[29,162],"devices":[30],"operating":[31],"within":[32],"soft":[34],"interaction":[35],"environment.":[36],"Firstly,":[37],"model":[40],"formulated":[42],"utilizing":[43],"HC":[45],"model,":[46],"followed":[47],"by":[48,70,83,137],"comprehensive":[50],"discussion":[51],"of":[52,116,131],"its":[53],"steady-state":[54],"performance.":[55],"To":[56],"attain":[57],"target":[59],"impedance,":[60],"new":[62,100],"integral":[63],"terminal":[64],"sliding":[65],"mode":[66],"manifold":[67],"constructing":[71],"an":[72],"intermediate":[73],"variable.":[74],"Subsequently,":[75],"traditional":[77],"framework":[80],"compensating":[84],"well-known":[87],"error":[89],"using":[90,122],"information":[92],"from":[93],"previous":[95],"time":[96],"step.":[97],"Furthermore,":[98],"term":[103],"introduced":[105],"ensure":[107],"system's":[109],"robustness":[110],"against":[111],"lumped":[112],"disturbances.":[113],"stability":[115],"proven":[121],"Lyapunov":[124],"theory.":[125],"Finally,":[126],"superiority":[128],"and":[129],"effectiveness":[130],"are":[135],"verified":[136],"experiments.":[138],"results":[140],"indicate":[141],"that":[142],"achieves":[146],"best":[148],"performance":[150],"compared":[151],"other":[154],"three":[155],"benchmark":[156],"controllers,":[157],"successfully":[158],"completing":[159],"task":[163]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2026-01-14T00:00:00"}
