{"id":"https://openalex.org/W4387319266","doi":"https://doi.org/10.1109/tie.2023.3314891","title":"Modeling and Compensation of Stiffness-Dependent Hysteresis for Stiffness-Tunable Tendon-Sheath Mechanism in Flexible Endoscopic Robots","display_name":"Modeling and Compensation of Stiffness-Dependent Hysteresis for Stiffness-Tunable Tendon-Sheath Mechanism in Flexible Endoscopic Robots","publication_year":2023,"publication_date":"2023-10-03","ids":{"openalex":"https://openalex.org/W4387319266","doi":"https://doi.org/10.1109/tie.2023.3314891"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2023.3314891","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2023.3314891","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/A5055468404","display_name":"Huxin Gao","orcid":"https://orcid.org/0000-0002-8700-560X"},"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"]},{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]},{"id":"https://openalex.org/I4210125878","display_name":"Suzhou Research Institute","ror":"https://ror.org/03ebk0c60","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210125878"]}],"countries":["CN","HK","SG"],"is_corresponding":true,"raw_author_name":"Huxin Gao","raw_affiliation_strings":["Department of Biomedical Engineering, National University of Singapore, Singapore","Department of Electronic Engineering, Shun Hing Institute of Advanced Engineering, The Chinese University of Hong Kong, Hong Kong","NUS (Suzhou) Research Institute, Suzhou, China"],"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Department of Electronic Engineering, Shun Hing Institute of Advanced Engineering, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"NUS (Suzhou) Research Institute, Suzhou, China","institution_ids":["https://openalex.org/I4210125878"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103048022","display_name":"Ruoyi Hao","orcid":"https://orcid.org/0009-0000-0341-6763"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Ruoyi Hao","raw_affiliation_strings":["Department of Electronic Engineering and the Shun Hing Institute of Advanced Engineering, The Chinese University of Hong Kong, Hong Kong"],"affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering and the Shun Hing Institute of Advanced Engineering, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022392718","display_name":"Xiaoxiao Yang","orcid":"https://orcid.org/0000-0002-1497-0628"},"institutions":[{"id":"https://openalex.org/I4210161528","display_name":"Qilu Hospital of Shandong University","ror":"https://ror.org/056ef9489","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210161528"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoxiao Yang","raw_affiliation_strings":["Department of Gastroenterology, Qilu Hospital of Shandong University, Jinan, China"],"affiliations":[{"raw_affiliation_string":"Department of Gastroenterology, Qilu Hospital of Shandong University, Jinan, China","institution_ids":["https://openalex.org/I4210161528"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100330888","display_name":"Changsheng Li","orcid":"https://orcid.org/0000-0003-2469-4222"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Changsheng Li","raw_affiliation_strings":["School of Mechatronic Engineering, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Mechatronic Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035786530","display_name":"Zedong Zhang","orcid":"https://orcid.org/0009-0003-9312-8387"},"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"]},{"id":"https://openalex.org/I4210125878","display_name":"Suzhou Research Institute","ror":"https://ror.org/03ebk0c60","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210125878"]}],"countries":["CN","SG"],"is_corresponding":false,"raw_author_name":"Zedong Zhang","raw_affiliation_strings":["Department of Biomedical Engineering, National University of Singapore, Singapore","NUS (Suzhou) Research Institute, Suzhou, China"],"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"NUS (Suzhou) Research Institute, Suzhou, China","institution_ids":["https://openalex.org/I4210125878"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011016505","display_name":"Xiuli Zuo","orcid":"https://orcid.org/0000-0001-9556-8771"},"institutions":[{"id":"https://openalex.org/I4210161528","display_name":"Qilu Hospital of Shandong University","ror":"https://ror.org/056ef9489","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210161528"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiuli Zuo","raw_affiliation_strings":["Department of Gastroenterology, Qilu Hospital of Shandong University, Jinan, China"],"affiliations":[{"raw_affiliation_string":"Department of Gastroenterology, Qilu Hospital of Shandong University, Jinan, China","institution_ids":["https://openalex.org/I4210161528"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100420264","display_name":"Yanqing Li","orcid":"https://orcid.org/0000-0001-9325-4808"},"institutions":[{"id":"https://openalex.org/I4210161528","display_name":"Qilu Hospital of Shandong University","ror":"https://ror.org/056ef9489","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210161528"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanqing Li","raw_affiliation_strings":["Department of Gastroenterology, Qilu Hospital of Shandong University, Jinan, China"],"affiliations":[{"raw_affiliation_string":"Department of Gastroenterology, Qilu Hospital of Shandong University, Jinan, China","institution_ids":["https://openalex.org/I4210161528"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032340829","display_name":"Hongliang Ren","orcid":"https://orcid.org/0000-0002-6488-1551"},"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"]},{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]},{"id":"https://openalex.org/I4210125878","display_name":"Suzhou Research Institute","ror":"https://ror.org/03ebk0c60","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210125878"]}],"countries":["CN","HK","SG"],"is_corresponding":false,"raw_author_name":"Hongliang Ren","raw_affiliation_strings":["Department of Biomedical Engineering, National University of Singapore, Singapore","NUS (Suzhou) Research Institute, Suzhou, China","Department of Electronic Engineering, Shun Hing Institute of Advanced Engineering, The Chinese University of Hong Kong, Hong Kong"],"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"NUS (Suzhou) Research Institute, Suzhou, China","institution_ids":["https://openalex.org/I4210125878"]},{"raw_affiliation_string":"Department of Electronic Engineering, Shun Hing Institute of Advanced Engineering, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5055468404"],"corresponding_institution_ids":["https://openalex.org/I165932596","https://openalex.org/I177725633","https://openalex.org/I4210125878"],"apc_list":null,"apc_paid":null,"fwci":4.5716,"has_fulltext":false,"cited_by_count":25,"citation_normalized_percentile":{"value":0.95404734,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"71","issue":"8","first_page":"9328","last_page":"9338"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11525","display_name":"Piezoelectric Actuators and Control","score":1.0,"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"}},"topics":[{"id":"https://openalex.org/T11525","display_name":"Piezoelectric Actuators and Control","score":1.0,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9991999864578247,"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/T10923","display_name":"Force Microscopy Techniques and Applications","score":0.9937999844551086,"subfield":{"id":"https://openalex.org/subfields/3107","display_name":"Atomic and Molecular Physics, and Optics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.7091125845909119},{"id":"https://openalex.org/keywords/hysteresis","display_name":"Hysteresis","score":0.5821685791015625},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5191325545310974},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.46787166595458984},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.41623806953430176},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4101565182209015},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.3683737516403198},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.25172334909439087},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20587188005447388},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19331017136573792},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.15831956267356873},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1333310306072235},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.11871403455734253}],"concepts":[{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.7091125845909119},{"id":"https://openalex.org/C123299182","wikidata":"https://www.wikidata.org/wiki/Q190837","display_name":"Hysteresis","level":2,"score":0.5821685791015625},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5191325545310974},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.46787166595458984},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.41623806953430176},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4101565182209015},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.3683737516403198},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.25172334909439087},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20587188005447388},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19331017136573792},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.15831956267356873},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1333310306072235},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.11871403455734253},{"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/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2023.3314891","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2023.3314891","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":32,"referenced_works":["https://openalex.org/W1596635901","https://openalex.org/W1597316327","https://openalex.org/W1980753202","https://openalex.org/W2015128267","https://openalex.org/W2024972706","https://openalex.org/W2065252202","https://openalex.org/W2071871942","https://openalex.org/W2072411062","https://openalex.org/W2100927926","https://openalex.org/W2112118472","https://openalex.org/W2116347266","https://openalex.org/W2124852832","https://openalex.org/W2146031911","https://openalex.org/W2151420688","https://openalex.org/W2154578892","https://openalex.org/W2172241235","https://openalex.org/W2593250971","https://openalex.org/W2919629852","https://openalex.org/W2944194749","https://openalex.org/W2971828626","https://openalex.org/W2978410619","https://openalex.org/W3003227101","https://openalex.org/W3006125498","https://openalex.org/W3006631052","https://openalex.org/W3016089488","https://openalex.org/W3119582087","https://openalex.org/W3128646645","https://openalex.org/W3129032694","https://openalex.org/W3138146008","https://openalex.org/W3157380428","https://openalex.org/W4210383406","https://openalex.org/W4322576646"],"related_works":["https://openalex.org/W2379084545","https://openalex.org/W585100505","https://openalex.org/W2899703592","https://openalex.org/W1982160337","https://openalex.org/W1993699589","https://openalex.org/W1971380437","https://openalex.org/W1983548084","https://openalex.org/W2141691317","https://openalex.org/W2110846987","https://openalex.org/W2160609742"],"abstract_inverted_index":{"Robot-assisted":[0],"gastrointestinal":[1],"endoscopic":[2,153],"surgery":[3],"requires":[4],"flexible":[5,152],"manipulators":[6,19],"to":[7,143],"possess":[8],"a":[9,60,131,140],"compact":[10],"dimension":[11],"and":[12,59,71,83,89,93,145],"stiffness":[13,68,74],"tuning":[14,69],"capability.":[15],"Current":[16],"stiffness-tunable":[17,118,157],"miniature":[18],"(STMM)":[20],"using":[21],"tendon-sheath":[22],"mechanism":[23,70],"(TSM)":[24],"experience":[25],"the":[26,36,67,73,79,97,101,105,108,111,116,148,156],"problem":[27],"of":[28,100,107,115,127,134],"stiffness-influenced":[29],"hysteresis.":[30,102],"To":[31],"address":[32],"this,":[33,78],"we":[34,65],"propose":[35],"<bold":[37,41,45,49,53],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[38,42,46,50,54],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">first</b>":[39],"stiffness-dependent":[40],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">M</b>":[43],"odified":[44],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">G</b>":[47],"eneralized":[48],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">P</b>":[51],"randtl\u2013":[52],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">I</b>":[55],"shlinski":[56],"(PI)":[57],"model":[58,82,144],"specific":[61],"compensation":[62,109],"strategy.":[63],"First,":[64],"analyzed":[66],"extracted":[72],"parameter.":[75],"Based":[76],"on":[77],"analytical":[80],"hysteresis":[81,150],"its":[84],"inverse":[85],"function":[86],"were":[87],"built":[88],"verified":[90],"in":[91,151],"simulations":[92],"experiments,":[94],"which":[95],"increases":[96],"fitting":[98],"accuracy":[99],"Then,":[103],"with":[104,155],"assistance":[106],"strategy,":[110],"real-time":[112],"input\u2013output":[113],"relationship":[114],"STMM's":[117],"joints":[119],"can":[120],"be":[121],"approximately":[122],"linear.":[123],"The":[124],"average":[125],"errors":[126],"trajectory":[128],"tracking":[129],"achieve":[130],"significant":[132],"improvement":[133],"over":[135],"85%.":[136],"This":[137],"work":[138],"provides":[139],"new":[141],"method":[142],"compensate":[146],"for":[147],"dynamic":[149],"robots":[154],"TSM.":[158]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":15},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}