{"id":"https://openalex.org/W4317538600","doi":"https://doi.org/10.3390/s23031195","title":"Direct Drive Brush-Shaped Tool with Torque Sensing Capability for Compliant Robotic Vine Suckering","display_name":"Direct Drive Brush-Shaped Tool with Torque Sensing Capability for Compliant Robotic Vine Suckering","publication_year":2023,"publication_date":"2023-01-20","ids":{"openalex":"https://openalex.org/W4317538600","doi":"https://doi.org/10.3390/s23031195","pmid":"https://pubmed.ncbi.nlm.nih.gov/36772233"},"language":"en","primary_location":{"id":"doi:10.3390/s23031195","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23031195","pdf_url":"https://www.mdpi.com/1424-8220/23/3/1195/pdf?version=1674204157","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/23/3/1195/pdf?version=1674204157","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5049634563","display_name":"Ivo Vatavuk","orcid":"https://orcid.org/0000-0002-4215-5460"},"institutions":[{"id":"https://openalex.org/I181343428","display_name":"University of Zagreb","ror":"https://ror.org/00mv6sv71","country_code":"HR","type":"education","lineage":["https://openalex.org/I181343428"]}],"countries":["HR"],"is_corresponding":true,"raw_author_name":"Ivo Vatavuk","raw_affiliation_strings":["Faculty of Electrical Engineering and Computing, University of Zagreb, Unska 3, 10000 Zagreb, Croatia"],"raw_orcid":"https://orcid.org/0000-0002-4215-5460","affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering and Computing, University of Zagreb, Unska 3, 10000 Zagreb, Croatia","institution_ids":["https://openalex.org/I181343428"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003756506","display_name":"Dario Stuhne","orcid":"https://orcid.org/0000-0002-9922-018X"},"institutions":[{"id":"https://openalex.org/I181343428","display_name":"University of Zagreb","ror":"https://ror.org/00mv6sv71","country_code":"HR","type":"education","lineage":["https://openalex.org/I181343428"]}],"countries":["HR"],"is_corresponding":false,"raw_author_name":"Dario Stuhne","raw_affiliation_strings":["Faculty of Electrical Engineering and Computing, University of Zagreb, Unska 3, 10000 Zagreb, Croatia"],"raw_orcid":"https://orcid.org/0000-0002-9922-018X","affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering and Computing, University of Zagreb, Unska 3, 10000 Zagreb, Croatia","institution_ids":["https://openalex.org/I181343428"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045403023","display_name":"Goran Vasiljevi\u0107","orcid":"https://orcid.org/0000-0002-8654-9680"},"institutions":[{"id":"https://openalex.org/I181343428","display_name":"University of Zagreb","ror":"https://ror.org/00mv6sv71","country_code":"HR","type":"education","lineage":["https://openalex.org/I181343428"]}],"countries":["HR"],"is_corresponding":false,"raw_author_name":"Goran Vasiljevi\u0107","raw_affiliation_strings":["Faculty of Electrical Engineering and Computing, University of Zagreb, Unska 3, 10000 Zagreb, Croatia"],"raw_orcid":"https://orcid.org/0000-0002-8654-9680","affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering and Computing, University of Zagreb, Unska 3, 10000 Zagreb, Croatia","institution_ids":["https://openalex.org/I181343428"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041092709","display_name":"Zdenko Kova\u010di\u0107","orcid":"https://orcid.org/0000-0003-3987-4576"},"institutions":[{"id":"https://openalex.org/I181343428","display_name":"University of Zagreb","ror":"https://ror.org/00mv6sv71","country_code":"HR","type":"education","lineage":["https://openalex.org/I181343428"]}],"countries":["HR"],"is_corresponding":false,"raw_author_name":"Zdenko Kova\u010di\u0107","raw_affiliation_strings":["Faculty of Electrical Engineering and Computing, University of Zagreb, Unska 3, 10000 Zagreb, Croatia"],"raw_orcid":"https://orcid.org/0000-0003-3987-4576","affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering and Computing, University of Zagreb, Unska 3, 10000 Zagreb, Croatia","institution_ids":["https://openalex.org/I181343428"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5049634563"],"corresponding_institution_ids":["https://openalex.org/I181343428"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":0.3187,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.5032183,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"23","issue":"3","first_page":"1195","last_page":"1195"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9993000030517578,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9993000030517578,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.996399998664856,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9872000217437744,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/brush","display_name":"Brush","score":0.8537980318069458},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.7565562725067139},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5955265760421753},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5641247630119324},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.49834632873535156},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4602905511856079},{"id":"https://openalex.org/keywords/bandwidth","display_name":"Bandwidth (computing)","score":0.4498502314090729},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.4292840361595154},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.38135433197021484},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3543887734413147},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17300981283187866},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.1727314591407776},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1581106185913086},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09272593259811401}],"concepts":[{"id":"https://openalex.org/C16108499","wikidata":"https://www.wikidata.org/wiki/Q1713927","display_name":"Brush","level":2,"score":0.8537980318069458},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.7565562725067139},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5955265760421753},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5641247630119324},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.49834632873535156},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4602905511856079},{"id":"https://openalex.org/C2776257435","wikidata":"https://www.wikidata.org/wiki/Q1576430","display_name":"Bandwidth (computing)","level":2,"score":0.4498502314090729},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.4292840361595154},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.38135433197021484},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3543887734413147},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17300981283187866},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.1727314591407776},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1581106185913086},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09272593259811401},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/s23031195","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23031195","pdf_url":"https://www.mdpi.com/1424-8220/23/3/1195/pdf?version=1674204157","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},{"id":"pmid:36772233","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/36772233","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:9922007","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/9922007","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors (Basel)","raw_type":"Text"},{"id":"pmh:oai:doaj.org/article:d981fda77f6e4403a49426fc94f55dee","is_oa":true,"landing_page_url":"https://doaj.org/article/d981fda77f6e4403a49426fc94f55dee","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 23, Iss 3, p 1195 (2023)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/23/3/1195/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s23031195","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors; Volume 23; Issue 3; Pages: 1195","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s23031195","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23031195","pdf_url":"https://www.mdpi.com/1424-8220/23/3/1195/pdf?version=1674204157","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4317538600.pdf"},"referenced_works_count":31,"referenced_works":["https://openalex.org/W1589688353","https://openalex.org/W1974420726","https://openalex.org/W1979445726","https://openalex.org/W2106260948","https://openalex.org/W2124538551","https://openalex.org/W2150115512","https://openalex.org/W2159220301","https://openalex.org/W2238609161","https://openalex.org/W2528895427","https://openalex.org/W2573227850","https://openalex.org/W2591091422","https://openalex.org/W2769646558","https://openalex.org/W2924138473","https://openalex.org/W2963446658","https://openalex.org/W2963785187","https://openalex.org/W2995187556","https://openalex.org/W3008390225","https://openalex.org/W3035829231","https://openalex.org/W3048251611","https://openalex.org/W3101798601","https://openalex.org/W3119753769","https://openalex.org/W3134909169","https://openalex.org/W3159575415","https://openalex.org/W3190976543","https://openalex.org/W4220934935","https://openalex.org/W4285121940","https://openalex.org/W4310173773","https://openalex.org/W4312448141","https://openalex.org/W6637371132","https://openalex.org/W6639240827","https://openalex.org/W6756617376"],"related_works":["https://openalex.org/W2899084033","https://openalex.org/W2673900393","https://openalex.org/W2099351328","https://openalex.org/W4377694679","https://openalex.org/W4200069840","https://openalex.org/W4379538379","https://openalex.org/W1485761249","https://openalex.org/W2969769538","https://openalex.org/W2188164853","https://openalex.org/W2149085596"],"abstract_inverted_index":{"In":[0],"this":[1,44],"paper,":[2],"we":[3],"present":[4],"a":[5,56,70,120,155],"direct":[6],"drive":[7,19],"brush-shaped":[8],"tool":[9,65,150],"developed":[10],"for":[11,23,134,157],"the":[12,30,34,38,42,50,64,77,82,88,91,99,102,106,109,112,117,145,148,165,171,174,178],"use":[13],"of":[14,29,46,87,90,101,116,147,164,173],"robotic":[15],"vine":[16],"suckering.":[17],"Direct":[18],"design":[20,47],"philosophy":[21,48],"allows":[22,49],"precise":[24],"and":[25,85,111,125,132],"high":[26],"bandwidth":[27,60],"control":[28],"torque":[31,39,57,61,104,124],"exerted":[32,40],"by":[33,169],"brush.":[35],"Besides":[36],"limiting":[37],"onto":[41],"plant,":[43],"kind":[45],"brush":[51,110],"to":[52,68,75,97,151],"be":[53,152],"used":[54,67,133,153],"as":[55,154],"sensor.":[58],"High":[59],"feedback":[62],"from":[63],"is":[66,130,167],"enable":[69],"position":[71,84],"controlled":[72],"robot":[73,159,175],"arm":[74,160,176],"perform":[76],"suckering":[78],"task":[79],"without":[80],"knowing":[81],"exact":[83],"shape":[86,137,141,163],"trunk":[89,136,140,166],"vine.":[92],"An":[93],"experiment":[94,118,143],"was":[95],"conducted":[96],"investigate":[98],"dependency":[100],"applied":[103],"on":[105],"overlap":[107],"between":[108,123],"obstacle.":[113],"The":[114,162],"results":[115],"indicate":[119],"quadratic":[121,128],"relationship":[122],"overlap.":[126],"This":[127],"function":[129],"estimated":[131,168],"compliant":[135,158],"following.":[138],"A":[139],"following":[142],"demonstrates":[144],"utility":[146],"presented":[149],"sensor":[156],"control.":[161],"tracking":[170],"motion":[172],"during":[177],"experiment.":[179]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}
