{"id":"https://openalex.org/W1551679569","doi":"https://doi.org/10.23919/ecc.2009.7074922","title":"Position and force control of a flexible robot manipulator for orthopedic surgery","display_name":"Position and force control of a flexible robot manipulator for orthopedic surgery","publication_year":2009,"publication_date":"2009-08-01","ids":{"openalex":"https://openalex.org/W1551679569","doi":"https://doi.org/10.23919/ecc.2009.7074922","mag":"1551679569"},"language":"en","primary_location":{"id":"doi:10.23919/ecc.2009.7074922","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc.2009.7074922","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 European Control Conference (ECC)","raw_type":"proceedings-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/A5012472735","display_name":"Pedro Pires","orcid":null},"institutions":[{"id":"https://openalex.org/I121345201","display_name":"Instituto de Engenharia de Sistemas e Computadores Investiga\u00e7\u00e3o e Desenvolvimento","ror":"https://ror.org/04mqy3p58","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I121345201","https://openalex.org/I4210125590"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Pedro Pires","raw_affiliation_strings":["IDMEC/IST, TULisbon, Lisboa, Portugal","IDMEC/IST, TULisbon, Av. Rovisco Pais 1049-001 Lisboa, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IDMEC/IST, TULisbon, Lisboa, Portugal","institution_ids":["https://openalex.org/I121345201"]},{"raw_affiliation_string":"IDMEC/IST, TULisbon, Av. Rovisco Pais 1049-001 Lisboa, Portugal","institution_ids":["https://openalex.org/I121345201"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109563762","display_name":"Pedro Teodoro","orcid":null},"institutions":[{"id":"https://openalex.org/I121345201","display_name":"Instituto de Engenharia de Sistemas e Computadores Investiga\u00e7\u00e3o e Desenvolvimento","ror":"https://ror.org/04mqy3p58","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I121345201","https://openalex.org/I4210125590"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Pedro Teodoro","raw_affiliation_strings":["IDMEC/IST, TULisbon, Lisboa, Portugal","IDMEC/IST, TULisbon, Av. Rovisco Pais 1049-001 Lisboa, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IDMEC/IST, TULisbon, Lisboa, Portugal","institution_ids":["https://openalex.org/I121345201"]},{"raw_affiliation_string":"IDMEC/IST, TULisbon, Av. Rovisco Pais 1049-001 Lisboa, Portugal","institution_ids":["https://openalex.org/I121345201"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000398945","display_name":"Jorge Martins","orcid":"https://orcid.org/0000-0003-3789-6384"},"institutions":[{"id":"https://openalex.org/I121345201","display_name":"Instituto de Engenharia de Sistemas e Computadores Investiga\u00e7\u00e3o e Desenvolvimento","ror":"https://ror.org/04mqy3p58","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I121345201","https://openalex.org/I4210125590"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Jorge Martins","raw_affiliation_strings":["IDMEC/IST, TULisbon, Lisboa, Portugal","IDMEC/IST, TULisbon, Av. Rovisco Pais 1049-001 Lisboa, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IDMEC/IST, TULisbon, Lisboa, Portugal","institution_ids":["https://openalex.org/I121345201"]},{"raw_affiliation_string":"IDMEC/IST, TULisbon, Av. Rovisco Pais 1049-001 Lisboa, Portugal","institution_ids":["https://openalex.org/I121345201"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5007667093","display_name":"Jos\u00e9 S\u00e1 da Costa","orcid":"https://orcid.org/0000-0001-9773-9896"},"institutions":[{"id":"https://openalex.org/I121345201","display_name":"Instituto de Engenharia de Sistemas e Computadores Investiga\u00e7\u00e3o e Desenvolvimento","ror":"https://ror.org/04mqy3p58","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I121345201","https://openalex.org/I4210125590"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Jose Sa da Costa","raw_affiliation_strings":["IDMEC/IST, TULisbon, Lisboa, Portugal","IDMEC/IST, TULisbon, Av. Rovisco Pais 1049-001 Lisboa, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IDMEC/IST, TULisbon, Lisboa, Portugal","institution_ids":["https://openalex.org/I121345201"]},{"raw_affiliation_string":"IDMEC/IST, TULisbon, Av. Rovisco Pais 1049-001 Lisboa, Portugal","institution_ids":["https://openalex.org/I121345201"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.7701,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.7511277,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"3347","last_page":"3352"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9959999918937683,"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"}},"topics":[{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9959999918937683,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9926999807357788,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9922000169754028,"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/kinematics","display_name":"Kinematics","score":0.6346074342727661},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6143434047698975},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5962529182434082},{"id":"https://openalex.org/keywords/linear-quadratic-regulator","display_name":"Linear-quadratic regulator","score":0.586428701877594},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.5659737586975098},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4751303493976593},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.44347143173217773},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.44289249181747437},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4328051507472992},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4058564007282257},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.37944263219833374},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20149126648902893},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09998166561126709},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.07982736825942993}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6346074342727661},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6143434047698975},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5962529182434082},{"id":"https://openalex.org/C98779006","wikidata":"https://www.wikidata.org/wiki/Q2520550","display_name":"Linear-quadratic regulator","level":3,"score":0.586428701877594},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.5659737586975098},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4751303493976593},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44347143173217773},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.44289249181747437},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4328051507472992},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4058564007282257},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.37944263219833374},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20149126648902893},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09998166561126709},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.07982736825942993},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/ecc.2009.7074922","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc.2009.7074922","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 European Control Conference (ECC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W137878081","https://openalex.org/W1488490876","https://openalex.org/W1566222947","https://openalex.org/W1896335474","https://openalex.org/W2029044593","https://openalex.org/W2068088498","https://openalex.org/W2099944381","https://openalex.org/W2102977948","https://openalex.org/W2105059343","https://openalex.org/W2106682900","https://openalex.org/W2119348011","https://openalex.org/W2136407957"],"related_works":["https://openalex.org/W2789522126","https://openalex.org/W2084494155","https://openalex.org/W2119963650","https://openalex.org/W2972304526","https://openalex.org/W2380210784","https://openalex.org/W2770397302","https://openalex.org/W998473388","https://openalex.org/W2375415610","https://openalex.org/W1996912299","https://openalex.org/W4235013387"],"abstract_inverted_index":{"Surgeons":[0],"are":[1,131],"using":[2],"robots":[3],"as":[4,55],"a":[5,56],"tool":[6],"to":[7,52,61,84],"increase":[8],"surgery":[9,24],"accuracy":[10],"and":[11,40,64,78,88,99,117,140],"decrease":[12],"procedure":[13],"times.":[14],"One":[15],"of":[16,37],"the":[17,26,43,47,75,92,94,134],"main":[18],"problems":[19],"in":[20,29,42,107],"robotic":[21],"assisted":[22],"orthopedic":[23],"is":[25,51],"force":[27],"control":[28,58,129,144],"manipulator":[30,95,105,127],"robots.":[31],"It":[32,66],"always":[33],"has":[34],"been":[35],"subject":[36],"great":[38],"study":[39,109],"interest":[41],"scientific":[44],"community,":[45],"where":[46],"most":[48],"common":[49],"approach":[50],"consider":[53,71],"it":[54],"hybrid":[57],"problem,":[59],"due":[60],"their":[62],"complexity":[63],"non-linearities.":[65],"becomes":[67],"evident,":[68],"when":[69],"we":[70],"two":[72,111],"distinct":[73],"states,":[74],"pre-contact":[76],"state":[77],"after":[79],"contact":[80],"state.":[81],"In":[82],"order":[83],"have":[85],"faster":[86],"motion":[87],"better":[89],"acceptance":[90],"by":[91],"surgeons":[93],"must":[96],"be":[97],"lightweight":[98],"therefore":[100],"may":[101],"vibrate.":[102],"The":[103,126],"flexible":[104,112],"used":[106],"this":[108],"contains":[110],"links,":[113],"one":[114],"rigid":[115],"link":[116],"six":[118],"revolution":[119],"joints,":[120],"all":[121],"actuating":[122],"under":[123],"gravity":[124],"effect.":[125],"robot":[128],"strategies":[130],"based":[132],"on":[133],"Closed-Loop":[135],"Inverse":[136],"Kinematics":[137],"algorithm":[138],"(CLIK)":[139],"Linear":[141],"Quadratic":[142],"Regulator":[143],"(LQR).":[145]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
