{"id":"https://openalex.org/W4382119035","doi":"https://doi.org/10.1109/tie.2023.3288194","title":"A Comprehensive Control Method for Tendon\u2013Sheath System Using Friction Model-Based Angle Estimation and Feedforward-Feedback Control in Time-Varying Configurations","display_name":"A Comprehensive Control Method for Tendon\u2013Sheath System Using Friction Model-Based Angle Estimation and Feedforward-Feedback Control in Time-Varying Configurations","publication_year":2023,"publication_date":"2023-06-26","ids":{"openalex":"https://openalex.org/W4382119035","doi":"https://doi.org/10.1109/tie.2023.3288194"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2023.3288194","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2023.3288194","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/A5043682194","display_name":"Ye Lu","orcid":"https://orcid.org/0000-0002-0572-4046"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Ye Lu","raw_affiliation_strings":["School of Instrument Science and Engineering, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0002-0572-4046","affiliations":[{"raw_affiliation_string":"School of Instrument Science and Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114310276","display_name":"Huijun Li","orcid":"https://orcid.org/0000-0002-4395-2461"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huijun Li","raw_affiliation_strings":["School of Instrument Science and Engineering, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0002-4395-2461","affiliations":[{"raw_affiliation_string":"School of Instrument Science and Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080438368","display_name":"Ke Shi","orcid":"https://orcid.org/0000-0002-6126-9818"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Ke Shi","raw_affiliation_strings":["Department of Biomedical Engineering, National University of Singapore, Singapore"],"raw_orcid":"https://orcid.org/0000-0002-6126-9818","affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102774273","display_name":"Jianwei Lai","orcid":"https://orcid.org/0000-0003-2686-7756"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianwei Lai","raw_affiliation_strings":["School of Instrument Science and Engineering, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0003-2686-7756","affiliations":[{"raw_affiliation_string":"School of Instrument Science and Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100339188","display_name":"Ye Li","orcid":"https://orcid.org/0000-0001-6676-2727"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ye Li","raw_affiliation_strings":["School of Instrument Science and Engineering, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0001-6676-2727","affiliations":[{"raw_affiliation_string":"School of Instrument Science and Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085126320","display_name":"Maozeng Zhang","orcid":"https://orcid.org/0000-0001-6871-1886"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Maozeng Zhang","raw_affiliation_strings":["School of Instrument Science and Engineering, Southeast University, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Instrument Science and Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048327458","display_name":"Aiguo Song","orcid":"https://orcid.org/0000-0002-1982-6780"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Aiguo Song","raw_affiliation_strings":["School of Instrument Science and Engineering, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0002-1982-6780","affiliations":[{"raw_affiliation_string":"School of Instrument Science and Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5043682194"],"corresponding_institution_ids":["https://openalex.org/I76569877"],"apc_list":null,"apc_paid":null,"fwci":1.1803,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.75992192,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"71","issue":"5","first_page":"5166","last_page":"5175"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9891999959945679,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9891999959945679,"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/T10868","display_name":"Soft Robotics and Applications","score":0.977400004863739,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9750000238418579,"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/feed-forward","display_name":"Feed forward","score":0.8200415968894958},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7068232297897339},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.5379230976104736},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.5079908967018127},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.4877396523952484},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.44782698154449463},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.43696457147598267},{"id":"https://openalex.org/keywords/bending","display_name":"Bending","score":0.4188350439071655},{"id":"https://openalex.org/keywords/tension","display_name":"Tension (geology)","score":0.41384726762771606},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.41206613183021545},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.35367101430892944},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.34909358620643616},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.29327401518821716},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.142854243516922},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.12923821806907654},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10300016403198242},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09084999561309814},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07152706384658813}],"concepts":[{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.8200415968894958},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7068232297897339},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.5379230976104736},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.5079908967018127},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.4877396523952484},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.44782698154449463},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.43696457147598267},{"id":"https://openalex.org/C87210426","wikidata":"https://www.wikidata.org/wiki/Q1072476","display_name":"Bending","level":2,"score":0.4188350439071655},{"id":"https://openalex.org/C186068551","wikidata":"https://www.wikidata.org/wiki/Q13255585","display_name":"Tension (geology)","level":3,"score":0.41384726762771606},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.41206613183021545},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.35367101430892944},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34909358620643616},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.29327401518821716},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.142854243516922},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.12923821806907654},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10300016403198242},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09084999561309814},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07152706384658813},{"id":"https://openalex.org/C112950240","wikidata":"https://www.wikidata.org/wiki/Q76005","display_name":"Ultimate tensile strength","level":2,"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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C191897082","wikidata":"https://www.wikidata.org/wiki/Q11467","display_name":"Metallurgy","level":1,"score":0.0},{"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/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2023.3288194","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2023.3288194","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":[{"id":"https://openalex.org/G6842572998","display_name":null,"funder_award_id":"62173088","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"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1848578791","https://openalex.org/W1966780058","https://openalex.org/W2063367762","https://openalex.org/W2085029715","https://openalex.org/W2102911553","https://openalex.org/W2158828654","https://openalex.org/W2162394694","https://openalex.org/W2164160147","https://openalex.org/W2326414650","https://openalex.org/W2487171333","https://openalex.org/W2512557300","https://openalex.org/W2522447873","https://openalex.org/W2523356919","https://openalex.org/W2780239332","https://openalex.org/W2901526016","https://openalex.org/W2904554343","https://openalex.org/W2964466362","https://openalex.org/W2971876756","https://openalex.org/W2977035899","https://openalex.org/W2979830450","https://openalex.org/W2988454930","https://openalex.org/W2998748860","https://openalex.org/W3004136924","https://openalex.org/W3006631052","https://openalex.org/W3031632633","https://openalex.org/W4210383406","https://openalex.org/W4285114926","https://openalex.org/W4287888302","https://openalex.org/W4323533510"],"related_works":["https://openalex.org/W2286391053","https://openalex.org/W2982600058","https://openalex.org/W1963486701","https://openalex.org/W2312483540","https://openalex.org/W4249477090","https://openalex.org/W191745111","https://openalex.org/W1522083559","https://openalex.org/W2007570603","https://openalex.org/W2606841922","https://openalex.org/W2071451125"],"abstract_inverted_index":{"The":[0,135],"tendon\u2013sheath":[1],"system":[2,86],"(TSS)":[3],"has":[4],"emerged":[5],"as":[6],"a":[7,51,60,97,117],"promising":[8],"solution":[9],"for":[10],"force":[11,44],"transmission":[12,119],"in":[13,47,80,132,145,149],"robot":[14],"applications,":[15],"owing":[16],"to":[17,68,109,123],"the":[18,26,34,42,70,77,85,111,125,139,142],"lightweight,":[19],"low":[20],"inertia,":[21],"and":[22,37,65,102,129],"good":[23],"flexibility.":[24],"However,":[25],"performance":[27,148],"of":[28,41,45,73,127,141],"tension":[29],"control":[30,40,67,71,128],"is":[31,88,100,107,121],"affected":[32],"by":[33,75],"configuration-dependent":[35],"nonlinearities,":[36],"achieving":[38],"precise":[39],"distal":[43],"TSS":[46,74],"time-varying":[48],"configurations":[49],"remains":[50],"challenge.":[52],"To":[53],"address":[54],"this":[55,57],"issue,":[56],"article":[58],"proposes":[59],"comprehensive":[61],"method":[62,144],"combining":[63],"feedforward":[64],"feedback":[66,131],"enhance":[69],"accuracy":[72],"estimating":[76],"bending":[78,91],"angle":[79,92],"real":[81],"time,":[82],"even":[83],"when":[84],"configuration":[87,130],"unknown.":[89],"A":[90],"estimation":[93],"approach":[94],"based":[95],"on":[96],"friction":[98,105,113],"model":[99,106],"proposed,":[101],"an":[103],"improved":[104],"developed":[108],"simulate":[110],"nonlinear":[112],"more":[114],"accurately.":[115],"Furthermore,":[116],"double-TSS":[118],"structure":[120],"designed":[122],"facilitate":[124],"integration":[126],"mechanical":[133],"systems.":[134],"experimental":[136],"results":[137],"confirm":[138],"effectiveness":[140],"proposed":[143],"enhancing":[146],"force-tracking":[147],"unknown":[150],"configurations.":[151]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":7}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}