{"id":"https://openalex.org/W2783054423","doi":"https://doi.org/10.1109/tro.2017.2765667","title":"A Rationale for Acceleration Feedback in Force Control of Series Elastic Actuators","display_name":"A Rationale for Acceleration Feedback in Force Control of Series Elastic Actuators","publication_year":2018,"publication_date":"2018-01-10","ids":{"openalex":"https://openalex.org/W2783054423","doi":"https://doi.org/10.1109/tro.2017.2765667","mag":"2783054423"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2017.2765667","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2017.2765667","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Robotics","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/A5071949456","display_name":"Andrea Calanca","orcid":"https://orcid.org/0000-0001-9664-4721"},"institutions":[{"id":"https://openalex.org/I119439378","display_name":"University of Verona","ror":"https://ror.org/039bp8j42","country_code":"IT","type":"education","lineage":["https://openalex.org/I119439378"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Andrea Calanca","raw_affiliation_strings":["Department of Computer Science, University of Verona, Verona, Italy"],"raw_orcid":"https://orcid.org/0000-0001-9664-4721","affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Verona, Verona, Italy","institution_ids":["https://openalex.org/I119439378"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065107543","display_name":"Paolo Fiorini","orcid":"https://orcid.org/0000-0002-0711-8605"},"institutions":[{"id":"https://openalex.org/I119439378","display_name":"University of Verona","ror":"https://ror.org/039bp8j42","country_code":"IT","type":"education","lineage":["https://openalex.org/I119439378"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Paolo Fiorini","raw_affiliation_strings":["Department of Computer Science, University of Verona, Verona, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Verona, Verona, Italy","institution_ids":["https://openalex.org/I119439378"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I119439378"],"apc_list":null,"apc_paid":null,"fwci":4.9957,"has_fulltext":false,"cited_by_count":62,"citation_normalized_percentile":{"value":0.95721276,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"34","issue":"1","first_page":"48","last_page":"61"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9889000058174133,"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":0.9889000058174133,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.982200026512146,"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":0.9283999800682068,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.8435359597206116},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7507078647613525},{"id":"https://openalex.org/keywords/accelerometer","display_name":"Accelerometer","score":0.6577694416046143},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.6227940917015076},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.620361328125},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.5424168705940247},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.5295965075492859},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5212393403053284},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.48230743408203125},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.38039565086364746},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.3251517415046692},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22635531425476074},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16165637969970703}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.8435359597206116},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7507078647613525},{"id":"https://openalex.org/C89805583","wikidata":"https://www.wikidata.org/wiki/Q192940","display_name":"Accelerometer","level":2,"score":0.6577694416046143},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.6227940917015076},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.620361328125},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.5424168705940247},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.5295965075492859},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5212393403053284},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.48230743408203125},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.38039565086364746},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3251517415046692},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22635531425476074},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16165637969970703},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical 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/tro.2017.2765667","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2017.2765667","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8199999928474426,"id":"https://metadata.un.org/sdg/14","display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":51,"referenced_works":["https://openalex.org/W190584206","https://openalex.org/W1487127700","https://openalex.org/W1521257674","https://openalex.org/W1535570778","https://openalex.org/W1563917366","https://openalex.org/W1578038264","https://openalex.org/W1974357213","https://openalex.org/W1979969547","https://openalex.org/W1980387813","https://openalex.org/W1990866293","https://openalex.org/W1991058191","https://openalex.org/W2026046095","https://openalex.org/W2028720893","https://openalex.org/W2034052310","https://openalex.org/W2090465025","https://openalex.org/W2096323098","https://openalex.org/W2105015109","https://openalex.org/W2107207454","https://openalex.org/W2111253117","https://openalex.org/W2116767351","https://openalex.org/W2139548710","https://openalex.org/W2140887880","https://openalex.org/W2145595735","https://openalex.org/W2159887188","https://openalex.org/W2161100229","https://openalex.org/W2166230296","https://openalex.org/W2267593487","https://openalex.org/W2292334126","https://openalex.org/W2293200354","https://openalex.org/W2295584263","https://openalex.org/W2339165105","https://openalex.org/W2394901438","https://openalex.org/W2507053509","https://openalex.org/W2523980053","https://openalex.org/W2528015431","https://openalex.org/W2534859939","https://openalex.org/W2536253713","https://openalex.org/W2556636338","https://openalex.org/W2565463332","https://openalex.org/W2738021937","https://openalex.org/W2750711367","https://openalex.org/W2783307626","https://openalex.org/W3014646291","https://openalex.org/W4242059591","https://openalex.org/W4250643234","https://openalex.org/W6607806448","https://openalex.org/W6631331923","https://openalex.org/W6633739303","https://openalex.org/W6645524774","https://openalex.org/W6712110785","https://openalex.org/W6775560218"],"related_works":["https://openalex.org/W2137994854","https://openalex.org/W2131888742","https://openalex.org/W2126474951","https://openalex.org/W1505013685","https://openalex.org/W2541780046","https://openalex.org/W1518845096","https://openalex.org/W2376925532","https://openalex.org/W2335200680","https://openalex.org/W2351202984","https://openalex.org/W2119611887"],"abstract_inverted_index":{"Series":[0],"elastic":[1],"actuators":[2],"(SEAs)":[3],"have":[4,55],"become":[5],"fundamental":[6],"components":[7],"in":[8,39,48,60,98],"robots":[9],"that":[10],"physically":[11],"interact":[12],"with":[13,107],"unstructured":[14],"environments":[15],"and":[16,72,80,116,127,139,151],"humans.":[17],"Force":[18],"control":[19,91,110],"of":[20,27,85,100,125,154],"SEAs":[21],"is":[22,119],"indeed":[23],"an":[24,165],"active":[25],"area":[26],"research.":[28],"This":[29],"paper":[30,66],"proposes":[31],"a":[32,78,89,122,130],"theoretical":[33],"foundation":[34],"for":[35,168],"acceleration":[36],"feedback":[37],"(AF)":[38],"SEA":[40],"force":[41,109],"control.":[42],"Even":[43],"if":[44,76],"AF":[45,132,144],"already":[46],"appeared":[47],"early":[49],"works":[50],"on":[51,159],"SEAs,":[52],"its":[53],"advantages":[54],"not":[56],"been":[57],"properly":[58],"highlighted":[59],"the":[61,135,152],"literature.":[62],"In":[63],"particular,":[64],"this":[65,142],"formally":[67],"motivates":[68],"improved":[69],"performance":[70,96,137],"robustness":[71,97,138],"transparency":[73],"exactly":[74],"as":[75,113],"using":[77,121],"softer":[79],"lighter":[81],"actuator.":[82],"Taking":[83],"advantage":[84],"AF,":[86],"we":[87],"propose":[88],"generic":[90],"architecture":[92],"characterized":[93],"by":[94],"impressive":[95],"spite":[99],"even":[101],"high":[102],"environment":[103],"uncertainties.":[104],"A":[105],"comparison":[106],"state-of-the-art":[108],"solutions":[111],"such":[112],"disturbance":[114],"observers":[115],"adaptive":[117],"controllers":[118,145],"reported":[120],"comprehensive":[123],"set":[124],"simulations":[126],"experiments.":[128],"As":[129],"result,":[131],"methods":[133],"exhibit":[134],"higher":[136],"accuracy.":[140],"Beside":[141],"outcome,":[143],"are":[146],"extremely":[147],"easy":[148],"to":[149],"implement":[150],"rise":[153],"low-cost":[155],"miniaturized":[156],"accelerometers":[157],"based":[158],"micro":[160],"electro-mechanical":[161],"systems":[162],"(MEMS)":[163],"represents":[164],"additional":[166],"motivations":[167],"their":[169],"use.":[170]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":8},{"year":2018,"cited_by_count":6}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}