{"id":"https://openalex.org/W4295177944","doi":"https://doi.org/10.1142/s0219843622500141","title":"Whole-Body Compliant Control of Robot Arms Based on Distributed Flexible Tactile Electronic Skin","display_name":"Whole-Body Compliant Control of Robot Arms Based on Distributed Flexible Tactile Electronic Skin","publication_year":2022,"publication_date":"2022-08-10","ids":{"openalex":"https://openalex.org/W4295177944","doi":"https://doi.org/10.1142/s0219843622500141"},"language":"en","primary_location":{"id":"doi:10.1142/s0219843622500141","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0219843622500141","pdf_url":null,"source":{"id":"https://openalex.org/S75343556","display_name":"International Journal of Humanoid Robotics","issn_l":"0219-8436","issn":["0219-8436","1793-6942"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Humanoid 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/A5100671882","display_name":"Bin He","orcid":"https://orcid.org/0000-0003-2944-8602"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bin He","raw_affiliation_strings":["Department of Control Science and Engineering, College of Electronics and Information Engineering, Tongji University, Shanghai 201804, P.\u00a0R.\u00a0China","Frontiers Science Center for Intelligent Autonomous Systems, Shanghai 201210, P.\u00a0R.\u00a0China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Control Science and Engineering, College of Electronics and Information Engineering, Tongji University, Shanghai 201804, P.\u00a0R.\u00a0China","institution_ids":["https://openalex.org/I116953780"]},{"raw_affiliation_string":"Frontiers Science Center for Intelligent Autonomous Systems, Shanghai 201210, P.\u00a0R.\u00a0China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100458919","display_name":"Hao Liu","orcid":"https://orcid.org/0009-0005-7061-1135"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Liu","raw_affiliation_strings":["Department of Control Science and Engineering, College of Electronics and Information Engineering, Tongji University, Shanghai 201804, P.\u00a0R.\u00a0China","Frontiers Science Center for Intelligent Autonomous Systems, Shanghai 201210, P.\u00a0R.\u00a0China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Control Science and Engineering, College of Electronics and Information Engineering, Tongji University, Shanghai 201804, P.\u00a0R.\u00a0China","institution_ids":["https://openalex.org/I116953780"]},{"raw_affiliation_string":"Frontiers Science Center for Intelligent Autonomous Systems, Shanghai 201210, P.\u00a0R.\u00a0China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037138699","display_name":"Caiyue Xu","orcid":"https://orcid.org/0000-0003-4056-5586"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Caiyue Xu","raw_affiliation_strings":["Department of Control Science and Engineering, College of Electronics and Information Engineering, Tongji University, Shanghai 201804, P.\u00a0R.\u00a0China","Frontiers Science Center for Intelligent Autonomous Systems, Shanghai 201210, P.\u00a0R.\u00a0China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Control Science and Engineering, College of Electronics and Information Engineering, Tongji University, Shanghai 201804, P.\u00a0R.\u00a0China","institution_ids":["https://openalex.org/I116953780"]},{"raw_affiliation_string":"Frontiers Science Center for Intelligent Autonomous Systems, Shanghai 201210, P.\u00a0R.\u00a0China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100406442","display_name":"Yafei Wang","orcid":"https://orcid.org/0000-0002-9575-781X"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yafei Wang","raw_affiliation_strings":["Department of Control Science and Engineering, College of Electronics and Information Engineering, Tongji University, Shanghai 201804, P.\u00a0R.\u00a0China","Frontiers Science Center for Intelligent Autonomous Systems, Shanghai 201210, P.\u00a0R.\u00a0China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Control Science and Engineering, College of Electronics and Information Engineering, Tongji University, Shanghai 201804, P.\u00a0R.\u00a0China","institution_ids":["https://openalex.org/I116953780"]},{"raw_affiliation_string":"Frontiers Science Center for Intelligent Autonomous Systems, Shanghai 201210, P.\u00a0R.\u00a0China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087465992","display_name":"Ping Lu","orcid":"https://orcid.org/0000-0002-9201-0956"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ping Lu","raw_affiliation_strings":["Department of Control Science and Engineering, College of Electronics and Information Engineering, Tongji University, Shanghai 201804, P.\u00a0R.\u00a0China","Frontiers Science Center for Intelligent Autonomous Systems, Shanghai 201210, P.\u00a0R.\u00a0China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Control Science and Engineering, College of Electronics and Information Engineering, Tongji University, Shanghai 201804, P.\u00a0R.\u00a0China","institution_ids":["https://openalex.org/I116953780"]},{"raw_affiliation_string":"Frontiers Science Center for Intelligent Autonomous Systems, Shanghai 201210, P.\u00a0R.\u00a0China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032983330","display_name":"Yanmin Zhou","orcid":"https://orcid.org/0000-0001-7824-1179"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanmin Zhou","raw_affiliation_strings":["Department of Control Science and Engineering, College of Electronics and Information Engineering, Tongji University, Shanghai 201804, P.\u00a0R.\u00a0China","Frontiers Science Center for Intelligent Autonomous Systems, Shanghai 201210, P.\u00a0R.\u00a0China"],"raw_orcid":"https://orcid.org/0000-0001-7824-1179","affiliations":[{"raw_affiliation_string":"Department of Control Science and Engineering, College of Electronics and Information Engineering, Tongji University, Shanghai 201804, P.\u00a0R.\u00a0China","institution_ids":["https://openalex.org/I116953780"]},{"raw_affiliation_string":"Frontiers Science Center for Intelligent Autonomous Systems, Shanghai 201210, P.\u00a0R.\u00a0China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.5721,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.60716165,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"20","issue":"06","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9988999962806702,"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9988999962806702,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9959999918937683,"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/T10914","display_name":"Tactile and Sensory Interactions","score":0.9761000275611877,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7969782948493958},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7183061838150024},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.5322898030281067},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.47013598680496216},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4645656645298004},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.45976585149765015},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.4482908844947815},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4421563446521759},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.43207719922065735},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.366641104221344},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3318289816379547}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7969782948493958},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7183061838150024},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.5322898030281067},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.47013598680496216},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4645656645298004},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.45976585149765015},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.4482908844947815},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4421563446521759},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.43207719922065735},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.366641104221344},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3318289816379547},{"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1142/s0219843622500141","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0219843622500141","pdf_url":null,"source":{"id":"https://openalex.org/S75343556","display_name":"International Journal of Humanoid Robotics","issn_l":"0219-8436","issn":["0219-8436","1793-6942"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Humanoid Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5381950306","display_name":null,"funder_award_id":"18K19802","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"}],"funders":[{"id":"https://openalex.org/F4320321034","display_name":"New Energy and Industrial Technology Development Organization","ror":"https://ror.org/0055k7a87"},{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1995213905","https://openalex.org/W2568614793","https://openalex.org/W2890388788","https://openalex.org/W2909867875","https://openalex.org/W2910395230","https://openalex.org/W2913446864","https://openalex.org/W2914066120","https://openalex.org/W2944056254","https://openalex.org/W2963705825","https://openalex.org/W2971268498","https://openalex.org/W2994895683","https://openalex.org/W3012387835","https://openalex.org/W3082811969","https://openalex.org/W3095708125","https://openalex.org/W3136239642","https://openalex.org/W3136315168","https://openalex.org/W3138073786","https://openalex.org/W3157348308","https://openalex.org/W3165940900","https://openalex.org/W3183145122","https://openalex.org/W3188369056","https://openalex.org/W3193789371","https://openalex.org/W3195260937","https://openalex.org/W3201888804","https://openalex.org/W3205991544","https://openalex.org/W3207331401","https://openalex.org/W3216653331","https://openalex.org/W4205617436"],"related_works":["https://openalex.org/W1960616769","https://openalex.org/W2543019745","https://openalex.org/W3128324021","https://openalex.org/W4289656195","https://openalex.org/W2152492056","https://openalex.org/W4247750500","https://openalex.org/W2124146082","https://openalex.org/W2121836998","https://openalex.org/W2709287450","https://openalex.org/W2531662632"],"abstract_inverted_index":{"Robots":[0],"are":[1,86],"now":[2],"working":[3],"outside":[4],"of":[5,30,47,142,160,168],"industrial":[6],"fences":[7],"more":[8,10],"and":[9,28,76,79,91],"closely":[11],"with":[12,69,101,122],"humans.":[13],"Safety":[14,172],"is":[15,52,61,67,95,120,136,151],"the":[16,44,98,107,123,139,143,161,165,169],"primary":[17],"requirement":[18],"for":[19,37,43,97,177],"intimate":[20],"human\u2013robot":[21,179],"interactions.":[22,180],"Contacts":[23],"could":[24,173],"happen":[25],"at":[26],"any":[27],"multipoints":[29],"robot.":[31,144,162],"Tactile":[32],"sensors":[33,72,85],"have":[34],"great":[35],"potentials":[36],"contact":[38,118],"sensing.":[39],"However,":[40],"their":[41],"implementation":[42],"whole-body":[45,158,166],"compliance":[46,159,167],"robots":[48],"upon":[49],"unknown":[50],"contacts":[51,105],"still":[53],"challenging.":[54],"In":[55],"this":[56],"work,":[57],"a":[58,113,146],"systematic":[59],"solution":[60],"proposed.":[62],"A":[63,88,129],"dual-arm":[64],"humanoid":[65],"platform":[66],"constructed":[68],"distributed":[70],"tactile":[71,84],"on":[73,106],"its":[74],"arms":[75],"body.":[77],"Cheap":[78],"easy":[80],"accessed":[81],"resistive":[82],"flexible":[83],"used.":[87],"data":[89],"collection":[90],"signal":[92],"processing":[93],"system":[94,100],"developed":[96],"sensing":[99],"scalable":[102],"capabilities.":[103],"External":[104],"robot":[108,170],"can":[109],"be":[110,175],"monitored":[111],"by":[112],"visualized":[114],"system.":[115],"The":[116],"multipoint":[117],"force":[119,133,148],"calculated":[121],"sensor":[124],"positions":[125],"taken":[126],"into":[127],"consideration.":[128],"PD":[130],"controller-based":[131],"compliant":[132],"control":[134],"algorithm":[135],"proposed":[137],"in":[138,153],"joint":[140],"space":[141],"Particularly,":[145],"geometry-based":[147],"propagation":[149],"method":[150],"introduced":[152],"order":[154],"to":[155],"achieve":[156],"overall":[157],"Experiments":[163],"verified":[164],"arms.":[171],"then":[174],"maintained":[176],"frequent":[178]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
