{"id":"https://openalex.org/W2096994890","doi":"https://doi.org/10.1109/tie.2009.2030218","title":"Force Control of Human\u2013Robot Interaction Using Twin Direct-Drive Motor System Based on Modal Space Design","display_name":"Force Control of Human\u2013Robot Interaction Using Twin Direct-Drive Motor System Based on Modal Space Design","publication_year":2009,"publication_date":"2009-09-04","ids":{"openalex":"https://openalex.org/W2096994890","doi":"https://doi.org/10.1109/tie.2009.2030218","mag":"2096994890"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2009.2030218","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2009.2030218","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/I85922643","display_name":"Nagaoka University of Technology","ror":"https://ror.org/00ys1hz88","country_code":"JP","type":"education","lineage":["https://openalex.org/I85922643"]},{"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 Electrical Engineering, Nagaoka University of Technology, Nagaoka, Japan","Department of System Design Engineering, Keio University, Yokohama, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Nagaoka University of Technology, Nagaoka, Japan","institution_ids":["https://openalex.org/I85922643"]},{"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":8.0866,"has_fulltext":false,"cited_by_count":76,"citation_normalized_percentile":{"value":0.97491375,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"57","issue":"4","first_page":"1383","last_page":"1392"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9991000294685364,"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":0.9991000294685364,"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/T14011","display_name":"Elevator Systems and Control","score":0.9739999771118164,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9663000106811523,"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":0.621283769607544},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5151480436325073},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.46939176321029663},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.46314024925231934},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4628187119960785},{"id":"https://openalex.org/keywords/vibration","display_name":"Vibration","score":0.4582563638687134},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.41674911975860596},{"id":"https://openalex.org/keywords/rope","display_name":"Rope","score":0.4133617579936981},{"id":"https://openalex.org/keywords/dc-motor","display_name":"DC motor","score":0.41036462783813477},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3492339849472046},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.1492181420326233},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1444396674633026},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10451808571815491},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09535461664199829}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.621283769607544},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5151480436325073},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.46939176321029663},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.46314024925231934},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4628187119960785},{"id":"https://openalex.org/C198394728","wikidata":"https://www.wikidata.org/wiki/Q3695508","display_name":"Vibration","level":2,"score":0.4582563638687134},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.41674911975860596},{"id":"https://openalex.org/C162269090","wikidata":"https://www.wikidata.org/wiki/Q1156047","display_name":"Rope","level":2,"score":0.4133617579936981},{"id":"https://openalex.org/C76684090","wikidata":"https://www.wikidata.org/wiki/Q3842034","display_name":"DC motor","level":2,"score":0.41036462783813477},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3492339849472046},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.1492181420326233},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1444396674633026},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10451808571815491},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09535461664199829},{"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2009.2030218","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2009.2030218","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":34,"referenced_works":["https://openalex.org/W1847689308","https://openalex.org/W1968465979","https://openalex.org/W1976085519","https://openalex.org/W2037732169","https://openalex.org/W2047667089","https://openalex.org/W2071592984","https://openalex.org/W2094219707","https://openalex.org/W2096322288","https://openalex.org/W2096323098","https://openalex.org/W2096487319","https://openalex.org/W2098751129","https://openalex.org/W2101153207","https://openalex.org/W2102279668","https://openalex.org/W2102412653","https://openalex.org/W2104372209","https://openalex.org/W2107223156","https://openalex.org/W2115859260","https://openalex.org/W2121991065","https://openalex.org/W2125562916","https://openalex.org/W2127416405","https://openalex.org/W2131687889","https://openalex.org/W2132005662","https://openalex.org/W2133066598","https://openalex.org/W2133996092","https://openalex.org/W2138914363","https://openalex.org/W2141694011","https://openalex.org/W2142163623","https://openalex.org/W2161743373","https://openalex.org/W2162448381","https://openalex.org/W2168805453","https://openalex.org/W2178332255","https://openalex.org/W2299003779","https://openalex.org/W2477990041","https://openalex.org/W4242059591"],"related_works":["https://openalex.org/W2899084033","https://openalex.org/W2028673160","https://openalex.org/W2348083360","https://openalex.org/W2378782416","https://openalex.org/W2392989087","https://openalex.org/W2695291820","https://openalex.org/W2359079238","https://openalex.org/W2366311860","https://openalex.org/W2393818221","https://openalex.org/W2897675608"],"abstract_inverted_index":{"Future":[0],"robot":[1],"systems":[2,11],"are":[3,77],"required":[4,78],"to":[5,27,108],"focus":[6],"on":[7,129],"developing":[8],"more":[9,21,25],"flexible":[10],"for":[12,38,65,104,142,190],"use":[13],"with":[14,61,179],"human":[15,176],"operator.":[16],"These":[17],"robots":[18],"must":[19],"operate":[20],"slowly":[22],"and":[23,79,98,132,147,154],"be":[24,160],"compliant":[26],"safe":[28],"user":[29],"interaction.":[30],"This":[31,186],"paper":[32,52],"proposes":[33],"an":[34],"improved":[35],"design":[36,55,64],"methodology":[37],"the":[39,47,54,66,73,91,95,105,126,136,152,155,164,170,173,193,201],"human-robot":[40],"interaction":[41,194],"system.":[42,70],"The":[43,113,198],"main":[44],"contribution":[45],"of":[46,56,72,94,144,157,175,181,192,196,200],"work":[48],"described":[49],"in":[50,121],"this":[51],"is":[53,102,118,140,184,188,204],"dual":[57],"disturbance":[58],"observers":[59],"combined":[60],"modal":[62],"space":[63],"twin":[67],"direct-drive":[68,75,87],"motor":[69],"Two":[71],"same":[74,92],"motors":[76,88],"connected":[80],"by":[81,124,162,206],"wire":[82,148,165],"rope":[83,149,166],"mechanism.":[84],"Since":[85],"both":[86],"have":[89],"almost":[90],"value":[93],"friction":[96,182],"effect":[97],"other":[99],"nonlinearities,":[100],"it":[101,139],"easy":[103],"proposed":[106,114,202],"system":[107,117,127],"compensate":[109],"these":[110],"deterioration":[111],"effects.":[112],"force":[115,178,183,195],"control":[116,143,191],"independently":[119],"controlled":[120],"acceleration":[122],"dimension":[123],"realizing":[125],"based":[128],"common":[130,137],"mode":[131,187],"differential":[133,171],"mode.":[134],"In":[135,169],"mode,":[138,172],"utilized":[141],"vibration":[145],"suppression":[146],"tension.":[150],"Moreover,":[151],"bandwidth":[153],"stiffness":[156],"mechanism":[158],"can":[159],"regulated":[161],"changing":[163],"tension":[167],"control.":[168],"purity":[174],"external":[177],"compensation":[180],"obtained.":[185],"useful":[189],"human.":[197],"effectiveness":[199],"method":[203],"verified":[205],"experimental":[207],"results.":[208]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":3},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":9},{"year":2014,"cited_by_count":15},{"year":2013,"cited_by_count":13},{"year":2012,"cited_by_count":7}],"updated_date":"2026-03-08T08:50:53.379069","created_date":"2025-10-10T00:00:00"}