{"id":"https://openalex.org/W2122335189","doi":"https://doi.org/10.1109/tie.2009.2025294","title":"Kalman-Filter-Based Sensor Integration of Variable Power Assist Control Based on Human Stiffness Estimation","display_name":"Kalman-Filter-Based Sensor Integration of Variable Power Assist Control Based on Human Stiffness Estimation","publication_year":2009,"publication_date":"2009-06-25","ids":{"openalex":"https://openalex.org/W2122335189","doi":"https://doi.org/10.1109/tie.2009.2025294","mag":"2122335189"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2009.2025294","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2009.2025294","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","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/A5014301782","display_name":"Chowarit Mitsantisuk","orcid":"https://orcid.org/0000-0002-2731-1795"},"institutions":[{"id":"https://openalex.org/I85922643","display_name":"Nagaoka University of Technology","ror":"https://ror.org/00ys1hz88","country_code":"JP","type":"education","lineage":["https://openalex.org/I85922643"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"C. Mitsantisuk","raw_affiliation_strings":["Department of Electrical Engineering, Nagaoka University of Technology, Nagaoka, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Nagaoka University of Technology, Nagaoka, Japan","institution_ids":["https://openalex.org/I85922643"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014390830","display_name":"Seiichiro Katsura","orcid":"https://orcid.org/0000-0002-7487-0610"},"institutions":[{"id":"https://openalex.org/I203951103","display_name":"Keio University","ror":"https://ror.org/02kn6nx58","country_code":"JP","type":"education","lineage":["https://openalex.org/I203951103"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"S. Katsura","raw_affiliation_strings":["Department of System Design Engineering, Keio University, Yokohama, Japan"],"affiliations":[{"raw_affiliation_string":"Department of System Design Engineering, Keio University, Yokohama, Japan","institution_ids":["https://openalex.org/I203951103"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067026996","display_name":"Kiyoshi Ohishi","orcid":"https://orcid.org/0000-0001-8662-1745"},"institutions":[{"id":"https://openalex.org/I85922643","display_name":"Nagaoka University of Technology","ror":"https://ror.org/00ys1hz88","country_code":"JP","type":"education","lineage":["https://openalex.org/I85922643"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"K. Ohishi","raw_affiliation_strings":["Department of Electrical Engineering, Nagaoka University of Technology, Nagaoka, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Nagaoka University of Technology, Nagaoka, Japan","institution_ids":["https://openalex.org/I85922643"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5014301782"],"corresponding_institution_ids":["https://openalex.org/I85922643"],"apc_list":null,"apc_paid":null,"fwci":17.5499,"has_fulltext":false,"cited_by_count":66,"citation_normalized_percentile":{"value":0.99436275,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"56","issue":"10","first_page":"3897","last_page":"3905"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9987000226974487,"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":0.9987000226974487,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9911999702453613,"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"}},{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9679999947547913,"subfield":{"id":"https://openalex.org/subfields/2742","display_name":"Rehabilitation"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6911818981170654},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.5115962624549866},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4994947910308838},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.4887711703777313},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.4870069622993469},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4538785219192505},{"id":"https://openalex.org/keywords/wire-rope","display_name":"Wire rope","score":0.4537988603115082},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.44748765230178833},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.43368422985076904},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.42954808473587036},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.41387641429901123},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3959372639656067},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34288716316223145},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1566351354122162},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14121165871620178},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.08832970261573792}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6911818981170654},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.5115962624549866},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4994947910308838},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.4887711703777313},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.4870069622993469},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4538785219192505},{"id":"https://openalex.org/C2781373598","wikidata":"https://www.wikidata.org/wiki/Q552034","display_name":"Wire rope","level":2,"score":0.4537988603115082},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.44748765230178833},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.43368422985076904},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.42954808473587036},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.41387641429901123},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3959372639656067},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34288716316223145},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1566351354122162},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14121165871620178},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.08832970261573792},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2009.2025294","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2009.2025294","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","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":31,"referenced_works":["https://openalex.org/W2002078422","https://openalex.org/W2037732169","https://openalex.org/W2047667089","https://openalex.org/W2071592984","https://openalex.org/W2086187777","https://openalex.org/W2096322288","https://openalex.org/W2096323098","https://openalex.org/W2101153207","https://openalex.org/W2103751215","https://openalex.org/W2104372209","https://openalex.org/W2105315608","https://openalex.org/W2106709836","https://openalex.org/W2107223156","https://openalex.org/W2114399075","https://openalex.org/W2115592272","https://openalex.org/W2120557068","https://openalex.org/W2126172323","https://openalex.org/W2130301822","https://openalex.org/W2132005662","https://openalex.org/W2134713663","https://openalex.org/W2139831829","https://openalex.org/W2141163906","https://openalex.org/W2145326420","https://openalex.org/W2161743373","https://openalex.org/W2169008269","https://openalex.org/W2178332255","https://openalex.org/W2299003779","https://openalex.org/W2477990041","https://openalex.org/W2740383124","https://openalex.org/W4231457463","https://openalex.org/W4242059591"],"related_works":["https://openalex.org/W2340690593","https://openalex.org/W2097131164","https://openalex.org/W2740159909","https://openalex.org/W2380804178","https://openalex.org/W2394292691","https://openalex.org/W2022421448","https://openalex.org/W2747143870","https://openalex.org/W2365525760","https://openalex.org/W2356301911","https://openalex.org/W2391466678"],"abstract_inverted_index":{"In":[0,85,118],"applications":[1],"such":[2,43],"as":[3],"robot":[4,10],"collaborating":[5],"with":[6,67],"human":[7,32,39,60,94,178,188],"operators,":[8],"the":[9,28,38,55,59,89,101,112,119,122,127,157,174,177,185,194,197,211],"system":[11,66,200],"must":[12],"operate":[13],"more":[14,18],"slowly":[15],"and":[16,80,93,141,152,201],"be":[17],"compliant":[19],"to":[20,42,74,87],"safe":[21],"user":[22],"interaction.":[23,84,207],"Moreover,":[24],"a":[25,48,68,76,142,170],"consideration":[26],"of":[27,31,58,100,114,156,173,176,196,210],"dynamic":[29],"properties":[30],"operators":[33],"is":[34,109,131,150,160,180,213],"also":[35,181],"important":[36],"for":[37,54,82,111,126,205],"application.":[40],"According":[41],"requirements,":[44],"this":[45,134,191],"paper":[46],"presents":[47],"novel":[49],"sensorless":[50],"force":[51,78,102,129,159,198,204],"control":[52,88,103,113,166,199],"approach":[53],"robot-assisted":[56],"motion":[57],"arm.":[61],"A":[62,162],"twin":[63],"direct-drive":[64],"motor":[65,139],"wire":[69,90,115],"rope":[70,91,116],"has":[71],"been":[72],"developed":[73],"provide":[75],"precise":[77],"sensation":[79],"safety":[81],"human-robot":[83,206],"order":[86],"tension":[92],"interaction":[95,128],"force,":[96],"two":[97,138],"mode":[98,108],"designs":[99],"are":[104],"realized.":[105],"The":[106,208],"common":[107],"utilized":[110],"tension.":[117],"differential":[120],"mode,":[121],"Kalman-filter-based":[123],"sensor":[124,145],"integration":[125],"observer":[130],"proposed":[132],"in":[133,187],"paper.":[135],"By":[136,183],"combining":[137],"encoders":[140],"commercial":[143],"acceleration":[144],"together,":[146],"white":[147],"Gaussian":[148],"noise":[149],"reduced,":[151],"high":[153],"accurate":[154],"feedback":[155],"contact":[158],"obtained.":[161],"variable":[163],"power":[164],"assist":[165],"method":[167,192,212],"based":[168],"on":[169],"real-time":[171],"estimation":[172],"stiffness":[175,186],"arm":[179,189],"introduced.":[182],"considering":[184],"movements,":[190],"increases":[193],"efficiency":[195],"realizes":[202],"comfortable":[203],"effectiveness":[209],"verified":[214],"by":[215],"experimental":[216],"results.":[217]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2022,"cited_by_count":3},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":6},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":5},{"year":2012,"cited_by_count":7}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}