{"id":"https://openalex.org/W4411949429","doi":"https://doi.org/10.1109/tsmc.2025.3579017","title":"Neural-Network-Based Optimal Impedance Control for Robots in Physical Interaction With Soft Environments","display_name":"Neural-Network-Based Optimal Impedance Control for Robots in Physical Interaction With Soft Environments","publication_year":2025,"publication_date":"2025-07-02","ids":{"openalex":"https://openalex.org/W4411949429","doi":"https://doi.org/10.1109/tsmc.2025.3579017"},"language":"en","primary_location":{"id":"doi:10.1109/tsmc.2025.3579017","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2025.3579017","pdf_url":null,"source":{"id":"https://openalex.org/S4210209078","display_name":"IEEE Transactions on Systems Man and Cybernetics Systems","issn_l":"2168-2216","issn":["2168-2216","2168-2232"],"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 Systems, Man, and Cybernetics: Systems","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/A5051913795","display_name":"Haiyi Kong","orcid":"https://orcid.org/0000-0001-6904-0519"},"institutions":[{"id":"https://openalex.org/I28407311","display_name":"University of Manchester","ror":"https://ror.org/027m9bs27","country_code":"GB","type":"education","lineage":["https://openalex.org/I28407311"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Haiyi Kong","raw_affiliation_strings":["Department of Electrical and Electronic Engineering, The University of Manchester, Manchester, U.K"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronic Engineering, The University of Manchester, Manchester, U.K","institution_ids":["https://openalex.org/I28407311"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085578333","display_name":"Guangzhu Peng","orcid":"https://orcid.org/0000-0003-3950-0451"},"institutions":[{"id":"https://openalex.org/I200845125","display_name":"Nanjing University of Information Science and Technology","ror":"https://ror.org/02y0rxk19","country_code":"CN","type":"education","lineage":["https://openalex.org/I200845125"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guangzhu Peng","raw_affiliation_strings":["School of Automation, Nanjing University of Information Science and Technology, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Nanjing University of Information Science and Technology, Nanjing, China","institution_ids":["https://openalex.org/I200845125"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108049333","display_name":"Guang Li","orcid":"https://orcid.org/0000-0001-9323-5076"},"institutions":[{"id":"https://openalex.org/I28407311","display_name":"University of Manchester","ror":"https://ror.org/027m9bs27","country_code":"GB","type":"education","lineage":["https://openalex.org/I28407311"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Guang Li","raw_affiliation_strings":["Department of Electrical and Electronic Engineering, The University of Manchester, Manchester, U.K"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronic Engineering, The University of Manchester, Manchester, U.K","institution_ids":["https://openalex.org/I28407311"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019906827","display_name":"Chenguang Yang","orcid":"https://orcid.org/0000-0001-5255-5559"},"institutions":[{"id":"https://openalex.org/I146655781","display_name":"University of Liverpool","ror":"https://ror.org/04xs57h96","country_code":"GB","type":"education","lineage":["https://openalex.org/I146655781"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Chenguang Yang","raw_affiliation_strings":["Department of Computer Science, University of Liverpool, Liverpool, U.K"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Liverpool, Liverpool, U.K","institution_ids":["https://openalex.org/I146655781"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5051913795"],"corresponding_institution_ids":["https://openalex.org/I28407311"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.17895987,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"55","issue":"10","first_page":"6463","last_page":"6475"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9585999846458435,"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":0.9585999846458435,"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/robot","display_name":"Robot","score":0.6837437152862549},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.6687061786651611},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5296635031700134},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.5156430006027222},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.506492018699646},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.45677629113197327},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4481852054595947},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.44286686182022095},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26465633511543274},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.245162695646286},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.12666571140289307}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6837437152862549},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.6687061786651611},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5296635031700134},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.5156430006027222},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.506492018699646},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.45677629113197327},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4481852054595947},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.44286686182022095},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26465633511543274},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.245162695646286},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.12666571140289307}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tsmc.2025.3579017","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2025.3579017","pdf_url":null,"source":{"id":"https://openalex.org/S4210209078","display_name":"IEEE Transactions on Systems Man and Cybernetics Systems","issn_l":"2168-2216","issn":["2168-2216","2168-2232"],"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 Systems, Man, and Cybernetics: Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1830653690","display_name":null,"funder_award_id":"BK20220442","funder_id":"https://openalex.org/F4320322769","funder_display_name":"Natural Science Foundation of Jiangsu Province"},{"id":"https://openalex.org/G4135303969","display_name":null,"funder_award_id":"2022r101","funder_id":"https://openalex.org/F4320335990","funder_display_name":"Startup Foundation for Introducing Talent of Nanjing University of Information Science and Technology"},{"id":"https://openalex.org/G708793322","display_name":null,"funder_award_id":"62203227","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8800338803","display_name":null,"funder_award_id":"202006150039","funder_id":"https://openalex.org/F4320322725","funder_display_name":"China Scholarship Council"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322725","display_name":"China Scholarship Council","ror":"https://ror.org/04atp4p48"},{"id":"https://openalex.org/F4320322769","display_name":"Natural Science Foundation of Jiangsu Province","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335990","display_name":"Startup Foundation for Introducing Talent of Nanjing University of Information Science and Technology","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W1572607312","https://openalex.org/W1975516009","https://openalex.org/W1983523797","https://openalex.org/W2012279256","https://openalex.org/W2017280345","https://openalex.org/W2029234750","https://openalex.org/W2034027216","https://openalex.org/W2043536379","https://openalex.org/W2077543416","https://openalex.org/W2081514674","https://openalex.org/W2084399420","https://openalex.org/W2093945540","https://openalex.org/W2106021820","https://openalex.org/W2120249358","https://openalex.org/W2126494634","https://openalex.org/W2143092842","https://openalex.org/W2165726932","https://openalex.org/W2346884246","https://openalex.org/W2793379827","https://openalex.org/W2903135913","https://openalex.org/W2953943807","https://openalex.org/W3006507156","https://openalex.org/W3008957125","https://openalex.org/W3035272603","https://openalex.org/W3036168343","https://openalex.org/W3087081411","https://openalex.org/W3120441334","https://openalex.org/W3129823174","https://openalex.org/W3132141103","https://openalex.org/W3133097374","https://openalex.org/W3157327332","https://openalex.org/W3160173994","https://openalex.org/W3166517573","https://openalex.org/W3194035973","https://openalex.org/W3216194119","https://openalex.org/W4280542770","https://openalex.org/W4361306647","https://openalex.org/W4377042294","https://openalex.org/W4383220175","https://openalex.org/W4389199488","https://openalex.org/W4400071535","https://openalex.org/W4401416570"],"related_works":["https://openalex.org/W2015878442","https://openalex.org/W2147346212","https://openalex.org/W1548357495","https://openalex.org/W2314048082","https://openalex.org/W1968487248","https://openalex.org/W2097006611","https://openalex.org/W4295916778","https://openalex.org/W2112995122","https://openalex.org/W2165087119","https://openalex.org/W1975719792"],"abstract_inverted_index":{"With":[0],"the":[1,33,46,84,103,110,125,150,160,163,180,191,196],"growing":[2],"demand":[3],"for":[4,61,201],"robots":[5,62],"in":[6],"emerging":[7],"fields,":[8],"such":[9],"as":[10],"smart":[11],"medical":[12],"and":[13,69,173,183],"home":[14],"services,":[15],"their":[16],"ability":[17],"to":[18,63,121,148,195,211],"interact":[19,65],"with":[20,66,88,137,203],"soft":[21,37,67,78],"environments":[22,38,68,79],"has":[23],"received":[24],"increased":[25],"attention.":[26],"Nevertheless,":[27],"an":[28,116],"overlooked":[29],"issue":[30],"is":[31,59,80,113,130,146,168],"that":[32,178],"inadequate":[34],"description":[35],"of":[36,48,77,105,162,209],"using":[39,132],"a":[40,54,74,92,100,133,138,143,207],"linear":[41],"model":[42,112,123],"may":[43],"significantly":[44,187],"diminish":[45],"accuracy":[47],"interaction":[49,71,106],"control.":[50],"In":[51],"this":[52],"article,":[53],"neural-network-based":[55],"impedance":[56,111,165,198],"control":[57,118,128],"framework":[58],"proposed":[60,164,192],"physically":[64],"optimize":[70],"performance.":[72],"Specifically,":[73],"nonlinear":[75,151],"definition":[76],"introduced":[81],"based":[82,189],"on":[83,190],"Hunt\u2013Crossley":[85],"(HC)":[86],"model,":[87],"parameter":[89],"identification":[90],"utilizing":[91],"data-driven":[93],"technique.":[94],"Regarding":[95],"system":[96],"performance":[97],"evaluated":[98],"by":[99,109],"cost":[101,135,182,185],"function,":[102],"determination":[104],"behavior":[107],"described":[108],"transformed":[114],"into":[115],"optimal":[117,127,152],"problem.":[119],"Moreover,":[120],"address":[122],"uncertainties,":[124],"original":[126],"problem":[129],"redefined":[131],"modified":[134],"function":[136],"constructed":[139],"auxiliary":[140],"system.":[141],"Then,":[142],"critic":[144],"network":[145],"employed":[147],"approximate":[149],"solution,":[153],"thereby":[154],"avoiding":[155],"complicated":[156],"mathematical":[157],"derivations.":[158],"Finally,":[159],"effectiveness":[161],"adaptation":[166],"strategy":[167],"validated":[169],"through":[170],"both":[171,179],"simulations":[172],"experiments.":[174],"Numerical":[175],"results":[176],"indicate":[177],"convergent":[181],"total":[184],"are":[186],"reduced":[188],"method":[193],"compared":[194],"linear-model-based":[197],"control,":[199],"particularly":[200],"materials":[202],"viscoelastic":[204],"properties,":[205],"achieving":[206],"reduction":[208],"up":[210],"30%.":[212]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}