{"id":"https://openalex.org/W2096241448","doi":"https://doi.org/10.1109/titb.2010.2044581","title":"Evaluation of Low-Level Controllers for an Orthopedic Surgery Robotic System","display_name":"Evaluation of Low-Level Controllers for an Orthopedic Surgery Robotic System","publication_year":2010,"publication_date":"2010-04-07","ids":{"openalex":"https://openalex.org/W2096241448","doi":"https://doi.org/10.1109/titb.2010.2044581","mag":"2096241448","pmid":"https://pubmed.ncbi.nlm.nih.gov/20371415"},"language":"en","primary_location":{"id":"doi:10.1109/titb.2010.2044581","is_oa":false,"landing_page_url":"https://doi.org/10.1109/titb.2010.2044581","pdf_url":null,"source":{"id":"https://openalex.org/S68937846","display_name":"IEEE Transactions on Information Technology in Biomedicine","issn_l":"1089-7771","issn":["1089-7771","1558-0032"],"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 Information Technology in Biomedicine","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"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/A5000054459","display_name":"Duygun Erol Barkana","orcid":"https://orcid.org/0000-0002-8929-0459"},"institutions":[{"id":"https://openalex.org/I100072489","display_name":"Yeditepe University","ror":"https://ror.org/025mx2575","country_code":"TR","type":"education","lineage":["https://openalex.org/I100072489"]}],"countries":["TR"],"is_corresponding":true,"raw_author_name":"Duygun Erol Barkana","raw_affiliation_strings":["Department of Electrical and Electronics Engineering, Yeditepe University, Istanbul 34755, Turkey. duygunerol@yeditepe.edu.tr","Department of Electrical & Electronics Engineering, Yeditepe University, Istanbul, Turkey"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronics Engineering, Yeditepe University, Istanbul 34755, Turkey. duygunerol@yeditepe.edu.tr","institution_ids":["https://openalex.org/I100072489"]},{"raw_affiliation_string":"Department of Electrical & Electronics Engineering, Yeditepe University, Istanbul, Turkey","institution_ids":["https://openalex.org/I100072489"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5000054459"],"corresponding_institution_ids":["https://openalex.org/I100072489"],"apc_list":null,"apc_paid":null,"fwci":1.0557,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.78057041,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":"14","issue":"4","first_page":"1128","last_page":"1135"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9973000288009644,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9973000288009644,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9876999855041504,"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":0.9721999764442444,"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":0.8362869024276733},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.61363685131073},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6002782583236694},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5811060070991516},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.5626569390296936},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5058953166007996},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5043314695358276},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4936412572860718},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.46790584921836853},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4524289071559906},{"id":"https://openalex.org/keywords/disturbance","display_name":"Disturbance (geology)","score":0.41456204652786255},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3401987552642822},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.30135342478752136},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2282908856868744},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15883386135101318},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0803515613079071}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8362869024276733},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.61363685131073},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6002782583236694},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5811060070991516},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.5626569390296936},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5058953166007996},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5043314695358276},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4936412572860718},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.46790584921836853},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4524289071559906},{"id":"https://openalex.org/C2777601987","wikidata":"https://www.wikidata.org/wiki/Q5283581","display_name":"Disturbance (geology)","level":2,"score":0.41456204652786255},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3401987552642822},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.30135342478752136},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2282908856868744},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15883386135101318},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0803515613079071},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D009038","descriptor_name":"Motion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009038","descriptor_name":"Motion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009038","descriptor_name":"Motion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009985","descriptor_name":"Orthopedics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D009985","descriptor_name":"Orthopedics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D009985","descriptor_name":"Orthopedics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D035501","descriptor_name":"Uncertainty","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D035501","descriptor_name":"Uncertainty","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D035501","descriptor_name":"Uncertainty","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false}],"locations_count":2,"locations":[{"id":"doi:10.1109/titb.2010.2044581","is_oa":false,"landing_page_url":"https://doi.org/10.1109/titb.2010.2044581","pdf_url":null,"source":{"id":"https://openalex.org/S68937846","display_name":"IEEE Transactions on Information Technology in Biomedicine","issn_l":"1089-7771","issn":["1089-7771","1558-0032"],"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 Information Technology in Biomedicine","raw_type":"journal-article"},{"id":"pmid:20371415","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/20371415","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on information technology in biomedicine : a publication of the IEEE Engineering in Medicine and Biology Society","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W157617510","https://openalex.org/W1557098279","https://openalex.org/W1825634444","https://openalex.org/W1966956364","https://openalex.org/W1967377907","https://openalex.org/W1973649422","https://openalex.org/W1978023077","https://openalex.org/W1984312339","https://openalex.org/W2009966077","https://openalex.org/W2017737116","https://openalex.org/W2034844028","https://openalex.org/W2044034005","https://openalex.org/W2051868207","https://openalex.org/W2059163735","https://openalex.org/W2068991051","https://openalex.org/W2071068454","https://openalex.org/W2089709206","https://openalex.org/W2095646014","https://openalex.org/W2103358316","https://openalex.org/W2103505506","https://openalex.org/W2111784926","https://openalex.org/W2118306037","https://openalex.org/W2124628463","https://openalex.org/W2131423572","https://openalex.org/W2137091831","https://openalex.org/W2143047169","https://openalex.org/W2149438426","https://openalex.org/W2155672752","https://openalex.org/W2155829031","https://openalex.org/W2312644716","https://openalex.org/W2594472264","https://openalex.org/W6606406671","https://openalex.org/W6668121941","https://openalex.org/W6683076098","https://openalex.org/W6733884336"],"related_works":["https://openalex.org/W2038604956","https://openalex.org/W2296560746","https://openalex.org/W2338222801","https://openalex.org/W2347583731","https://openalex.org/W2106602008","https://openalex.org/W2067832159","https://openalex.org/W2153353177","https://openalex.org/W3156121563","https://openalex.org/W2355389557","https://openalex.org/W4382279073"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"a":[3,30,59,73],"computed-torque":[4,60,74],"control":[5,8,25,29,91],"and":[6,40,62,86,104],"disturbance-observer-based":[7,63,90],"were":[9,44,65],"evaluated":[10],"for":[11,67],"an":[12,35],"orthopedic":[13],"surgery":[14],"robotic":[15,32],"system":[16,33],"called":[17],"OrthoRoby,":[18],"to":[19,28,46,83,94,101],"track":[20],"bone-cutting":[21],"trajectory.":[22],"Robust":[23],"motion":[24],"is":[26],"required":[27],"medical":[31],"in":[34],"environment":[36],"where":[37],"model":[38],"uncertainty":[39],"disturbances":[41],"exist.":[42],"Experiments":[43],"performed":[45],"demonstrate":[47],"the":[48,51,54],"performance":[49],"of":[50,53],"tracking":[52],"desired":[55],"cutting":[56],"trajectory":[57],"when":[58],"controller":[61,64,75],"used":[66],"OrthoRoby.":[68],"It":[69],"was":[70,92],"observed":[71],"that":[72],"can":[76],"become":[77],"unstable":[78],"with":[79,97],"inexact":[80,98],"cancellation":[81,99],"due":[82,100],"parameter":[84,102],"uncertainties":[85,103],"unmodeled":[87,105],"dynamics.":[88,106],"A":[89],"shown":[93],"ensure":[95],"stability":[96]},"counts_by_year":[{"year":2012,"cited_by_count":2}],"updated_date":"2026-01-13T01:12:25.745995","created_date":"2025-10-10T00:00:00"}