{"id":"https://openalex.org/W2011321290","doi":"https://doi.org/10.1163/016918610x552141","title":"Kalman Filter-Based Disturbance Observer and its Applications to Sensorless Force Control","display_name":"Kalman Filter-Based Disturbance Observer and its Applications to Sensorless Force Control","publication_year":2011,"publication_date":"2011-01-01","ids":{"openalex":"https://openalex.org/W2011321290","doi":"https://doi.org/10.1163/016918610x552141","mag":"2011321290"},"language":"en","primary_location":{"id":"doi:10.1163/016918610x552141","is_oa":false,"landing_page_url":"https://doi.org/10.1163/016918610x552141","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced 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/A5014301782","display_name":"Chowarit Mitsantisuk","orcid":"https://orcid.org/0000-0002-2731-1795"},"institutions":[{"id":"https://openalex.org/I85922643","display_name":"Nagaoka University of Technology","ror":"https://ror.org/00ys1hz88","country_code":"JP","type":"education","lineage":["https://openalex.org/I85922643"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Chowarit Mitsantisuk","raw_affiliation_strings":["a    Nagaoka University of Technology, 1603-1 Kamitomioka-machi, Nagaoka-shi, Niigata 940-2188, Japan;, Email: chowarit@stn.nagaokaut.ac.jp","Nagaoka University of Technology, 1603-1 Kamitomioka-machi, Nagaoka-shi, Niigata 940-2188, Japan;, Email: chowarit@stn.nagaokaut.ac.jp"],"affiliations":[{"raw_affiliation_string":"a    Nagaoka University of Technology, 1603-1 Kamitomioka-machi, Nagaoka-shi, Niigata 940-2188, Japan;, Email: chowarit@stn.nagaokaut.ac.jp","institution_ids":["https://openalex.org/I85922643"]},{"raw_affiliation_string":"Nagaoka University of Technology, 1603-1 Kamitomioka-machi, Nagaoka-shi, Niigata 940-2188, Japan;, Email: chowarit@stn.nagaokaut.ac.jp","institution_ids":["https://openalex.org/I85922643"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067026996","display_name":"Kiyoshi Ohishi","orcid":"https://orcid.org/0000-0001-8662-1745"},"institutions":[{"id":"https://openalex.org/I85922643","display_name":"Nagaoka University of Technology","ror":"https://ror.org/00ys1hz88","country_code":"JP","type":"education","lineage":["https://openalex.org/I85922643"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kiyoshi Ohishi","raw_affiliation_strings":["b    Nagaoka University of Technology, 1603-1 Kamitomioka-machi, Nagaoka-shi, Niigata 940-2188, Japan","Nagaoka University of Technology, 1603-1, Kamitomioka-Machi, Nagaoka-Shi, Niigata 940-2188, Japan"],"affiliations":[{"raw_affiliation_string":"b    Nagaoka University of Technology, 1603-1 Kamitomioka-machi, Nagaoka-shi, Niigata 940-2188, Japan","institution_ids":["https://openalex.org/I85922643"]},{"raw_affiliation_string":"Nagaoka University of Technology, 1603-1, Kamitomioka-Machi, Nagaoka-Shi, Niigata 940-2188, Japan","institution_ids":["https://openalex.org/I85922643"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083051318","display_name":"Shiro Urushihara","orcid":null},"institutions":[{"id":"https://openalex.org/I4210160866","display_name":"National Institute of Technology, Kagawa College","ror":"https://ror.org/04xfwhf17","country_code":"JP","type":"education","lineage":["https://openalex.org/I4210120810","https://openalex.org/I4210160866"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shiro Urushihara","raw_affiliation_strings":["c    Kagawa National College of Technology, 355 Chokushi-cho, Takamatsu, Kagawa 761-8058, Japan","Kagawa National College of Technology, 355 Chokushi-cho, Takamatsu, Kagawa 761-8058, Japan"],"affiliations":[{"raw_affiliation_string":"c    Kagawa National College of Technology, 355 Chokushi-cho, Takamatsu, Kagawa 761-8058, Japan","institution_ids":["https://openalex.org/I4210160866"]},{"raw_affiliation_string":"Kagawa National College of Technology, 355 Chokushi-cho, Takamatsu, Kagawa 761-8058, Japan","institution_ids":["https://openalex.org/I4210160866"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014390830","display_name":"Seiichiro Katsura","orcid":"https://orcid.org/0000-0002-7487-0610"},"institutions":[{"id":"https://openalex.org/I203951103","display_name":"Keio University","ror":"https://ror.org/02kn6nx58","country_code":"JP","type":"education","lineage":["https://openalex.org/I203951103"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Seiichiro Katsura","raw_affiliation_strings":["d    Keio University, 3-14-1 Hiyoshi, Kouhoku-Ku, Yokohama, Kanagawa 223-8522, Japan","Keio University, 3-14-1, Hiyoshi, Kouhoku-ku, Yokohama, Kanagawa 223-8522 Japan"],"affiliations":[{"raw_affiliation_string":"d    Keio University, 3-14-1 Hiyoshi, Kouhoku-Ku, Yokohama, Kanagawa 223-8522, Japan","institution_ids":["https://openalex.org/I203951103"]},{"raw_affiliation_string":"Keio University, 3-14-1, Hiyoshi, Kouhoku-ku, Yokohama, Kanagawa 223-8522 Japan","institution_ids":["https://openalex.org/I203951103"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5014301782"],"corresponding_institution_ids":["https://openalex.org/I85922643"],"apc_list":null,"apc_paid":null,"fwci":3.0284,"has_fulltext":false,"cited_by_count":40,"citation_normalized_percentile":{"value":0.90304012,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"25","issue":"3-4","first_page":"335","last_page":"353"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9984999895095825,"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/T13752","display_name":"Mechanics and Biomechanics Studies","score":0.9929999709129333,"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/control-theory","display_name":"Control theory (sociology)","score":0.784334659576416},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.7647740840911865},{"id":"https://openalex.org/keywords/white-noise","display_name":"White noise","score":0.6858460903167725},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6210750937461853},{"id":"https://openalex.org/keywords/disturbance","display_name":"Disturbance (geology)","score":0.58376145362854},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5081446170806885},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.48037275671958923},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.46189084649086},{"id":"https://openalex.org/keywords/alpha-beta-filter","display_name":"Alpha beta filter","score":0.42083364725112915},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3550414443016052},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.34154969453811646},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2030593752861023},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17995291948318481},{"id":"https://openalex.org/keywords/moving-horizon-estimation","display_name":"Moving horizon estimation","score":0.12107908725738525}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.784334659576416},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.7647740840911865},{"id":"https://openalex.org/C112633086","wikidata":"https://www.wikidata.org/wiki/Q381287","display_name":"White noise","level":2,"score":0.6858460903167725},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6210750937461853},{"id":"https://openalex.org/C2777601987","wikidata":"https://www.wikidata.org/wiki/Q5283581","display_name":"Disturbance (geology)","level":2,"score":0.58376145362854},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5081446170806885},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.48037275671958923},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.46189084649086},{"id":"https://openalex.org/C11588082","wikidata":"https://www.wikidata.org/wiki/Q4735154","display_name":"Alpha beta filter","level":5,"score":0.42083364725112915},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3550414443016052},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.34154969453811646},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2030593752861023},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17995291948318481},{"id":"https://openalex.org/C50050547","wikidata":"https://www.wikidata.org/wiki/Q6927137","display_name":"Moving horizon estimation","level":4,"score":0.12107908725738525},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1163/016918610x552141","is_oa":false,"landing_page_url":"https://doi.org/10.1163/016918610x552141","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1976085519","https://openalex.org/W2003391243","https://openalex.org/W2096322288","https://openalex.org/W2121316434","https://openalex.org/W2123952222","https://openalex.org/W2132005662","https://openalex.org/W2149036092","https://openalex.org/W2162448381","https://openalex.org/W2169008269","https://openalex.org/W2299003779"],"related_works":["https://openalex.org/W4310470578","https://openalex.org/W3000717434","https://openalex.org/W4382703459","https://openalex.org/W2345380328","https://openalex.org/W1578019044","https://openalex.org/W2083719249","https://openalex.org/W2096490327","https://openalex.org/W2067678257","https://openalex.org/W2597265945","https://openalex.org/W3016429140"],"abstract_inverted_index":{"Force":[0],"estimation":[1],"plays":[2],"a":[3,80,84],"very":[4],"important":[5],"role":[6],"in":[7,69,99,119],"many":[8],"application":[9],"areas.":[10],"The":[11,62,104],"disturbance":[12,60,76,109],"observer":[13,110],"is":[14,44,72],"significantly":[15],"becoming":[16],"the":[17,27,33,41,45,59,66,73,88,107],"preferred":[18],"approach":[19],"since":[20],"it":[21],"offers":[22],"distinct":[23],"advantages":[24],"of":[25,29,35,40,65,75,106],"improving":[26],"robustness":[28],"force":[30,36],"control":[31],"and":[32,96],"accuracy":[34],"estimation.":[37],"However,":[38],"one":[39],"main":[42,63],"disadvantages":[43],"limitation":[46],"from":[47],"white":[48,91],"Gaussian":[49,92],"noise.":[50],"This":[51],"paper":[52,71],"proposes":[53],"an":[54],"improved":[55],"design":[56,74],"methodology":[57],"for":[58],"observer.":[61],"contribution":[64],"work":[67],"described":[68],"this":[70],"observers":[77],"combined":[78],"with":[79,83,116],"Kalman":[81],"filter":[82],"multisensor":[85],"system.":[86],"From":[87],"experimental":[89],"results,":[90],"noise":[93],"was":[94,102],"reduced":[95],"fast":[97],"response":[98],"contact":[100],"motion":[101],"achieved.":[103],"effectiveness":[105],"proposed":[108],"has":[111],"been":[112],"confirmed":[113],"through":[114],"comparisons":[115],"conventional":[117],"methods":[118],"1-d.o.f.":[120],"linear":[121],"motor":[122],"systems.":[123]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":4},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":10},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}