{"id":"https://openalex.org/W4405488834","doi":"https://doi.org/10.1109/embc53108.2024.10782551","title":"Using backward adjustment with model predictive control for adaptive control of nonlinear soft artificial muscle","display_name":"Using backward adjustment with model predictive control for adaptive control of nonlinear soft artificial muscle","publication_year":2024,"publication_date":"2024-07-15","ids":{"openalex":"https://openalex.org/W4405488834","doi":"https://doi.org/10.1109/embc53108.2024.10782551","pmid":"https://pubmed.ncbi.nlm.nih.gov/40031872"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/embc53108.2024.10782551","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},"type":"article","type_crossref":"proceedings-article","indexed_in":["crossref","pubmed"],"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/A5071676461","display_name":"Yujie Su","orcid":"https://orcid.org/0000-0001-8066-5704"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"funder","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yujie Su","raw_affiliation_strings":["Chinese University of Hong Kong,Department of Biomedical Engineering,Hong Kong SAR"],"affiliations":[{"raw_affiliation_string":"Chinese University of Hong Kong,Department of Biomedical Engineering,Hong Kong SAR","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060527640","display_name":"Disheng Xie","orcid":"https://orcid.org/0000-0002-3229-0159"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"funder","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Disheng Xie","raw_affiliation_strings":["Chinese University of Hong Kong,Department of Biomedical Engineering,Hong Kong SAR"],"affiliations":[{"raw_affiliation_string":"Chinese University of Hong Kong,Department of Biomedical Engineering,Hong Kong SAR","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090023246","display_name":"Jing Shu","orcid":"https://orcid.org/0000-0002-9475-8677"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"funder","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Jing Shu","raw_affiliation_strings":["Chinese University of Hong Kong,Department of Biomedical Engineering,Hong Kong SAR"],"affiliations":[{"raw_affiliation_string":"Chinese University of Hong Kong,Department of Biomedical Engineering,Hong Kong SAR","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101541205","display_name":"Junming Wang","orcid":"https://orcid.org/0000-0002-2563-5200"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"funder","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Junming Wang","raw_affiliation_strings":["Chinese University of Hong Kong,Department of Biomedical Engineering,Hong Kong SAR"],"affiliations":[{"raw_affiliation_string":"Chinese University of Hong Kong,Department of Biomedical Engineering,Hong Kong SAR","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046786528","display_name":"Rong Song","orcid":"https://orcid.org/0000-0003-3662-116X"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"funder","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rong Song","raw_affiliation_strings":["Shenzhen Campus of Sun Yat-sen University,School of Biomedical Engineering"],"affiliations":[{"raw_affiliation_string":"Shenzhen Campus of Sun Yat-sen University,School of Biomedical Engineering","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066840655","display_name":"K.Y. Tong","orcid":"https://orcid.org/0000-0003-4375-653X"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"funder","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Kai Yu Tong","raw_affiliation_strings":["Chinese University of Hong Kong,Department of Biomedical Engineering,Hong Kong SAR"],"affiliations":[{"raw_affiliation_string":"Chinese University of Hong Kong,Department of Biomedical Engineering,Hong Kong SAR","institution_ids":["https://openalex.org/I177725633"]}]}],"institution_assertions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.0,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":0,"max":77},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"4"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.999,"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":0.999,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9977,"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":0.9843,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model Predictive Control","score":0.699309},{"id":"https://openalex.org/keywords/nonlinear-model","display_name":"Nonlinear model","score":0.44133604}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.699309},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6342044},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5656519},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.5633231},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5629791},{"id":"https://openalex.org/C196628372","wikidata":"https://www.wikidata.org/wiki/Q4801090","display_name":"Artificial muscle","level":3,"score":0.5379003},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.47355902},{"id":"https://openalex.org/C2984755018","wikidata":"https://www.wikidata.org/wiki/Q17118374","display_name":"Nonlinear model","level":3,"score":0.44133604},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30487695},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.08592114},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.080019325},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":"","qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001187","descriptor_name":"Artificial Organs","qualifier_ui":"","qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":"","qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D018482","descriptor_name":"Muscle, Skeletal","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D017711","descriptor_name":"Nonlinear Dynamics","qualifier_ui":"","qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false}],"locations_count":2,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/embc53108.2024.10782551","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},{"is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/40031872","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_indexed_in_scopus":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":["National Institutes of Health"],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/2","display_name":"Zero hunger","score":0.6}],"grants":[{"funder":"https://openalex.org/F4320326427","funder_display_name":"Innovation and Technology Fund","award_id":null}],"datasets":[],"versions":[],"referenced_works_count":17,"referenced_works":["https://openalex.org/W2162666018","https://openalex.org/W2414388112","https://openalex.org/W2480512873","https://openalex.org/W2525386719","https://openalex.org/W2582609323","https://openalex.org/W2586476486","https://openalex.org/W2614107499","https://openalex.org/W2618733545","https://openalex.org/W2775361682","https://openalex.org/W2782435507","https://openalex.org/W2800392488","https://openalex.org/W2947042179","https://openalex.org/W2967653827","https://openalex.org/W2970743203","https://openalex.org/W3167126932","https://openalex.org/W3204719635","https://openalex.org/W4327590907"],"related_works":["https://openalex.org/W648378158","https://openalex.org/W4251946813","https://openalex.org/W3083517787","https://openalex.org/W2885820669","https://openalex.org/W2368407738","https://openalex.org/W2143511391","https://openalex.org/W1981727740","https://openalex.org/W1839440842","https://openalex.org/W1779399219","https://openalex.org/W1631623342"],"abstract_inverted_index":{"Soft":[0],"artificial":[1,63,143],"muscles":[2,64],"possess":[3],"inherent":[4],"compliance":[5],"and":[6,18,48,73,77,149],"safety":[7],"features,":[8],"rendering":[9],"them":[10],"highly":[11],"suitable":[12],"for":[13,92],"applications":[14],"in":[15,65,137],"wearable":[16],"robots":[17],"unstructured":[19],"environments.":[20],"However,":[21],"accurately":[22],"modeling":[23],"the":[24,58,62,70,131,139],"nonlinearity":[25,140],"of":[26,61,99,108,119,133,141],"soft":[27,142],"actuators":[28],"proves":[29],"to":[30,146],"be":[31],"a":[32,88,97,113],"challenging":[33],"task.":[34],"In":[35],"this":[36],"paper,":[37],"we":[38,83,101],"present":[39],"an":[40],"adaptive":[41],"control":[42,78],"method":[43,136],"that":[44,103],"leverages":[45],"model":[46,49,60,93],"learning":[47],"parameter":[50,94],"backward":[51],"adjustment.":[52,95],"Our":[53],"approach":[54],"focuses":[55],"on":[56],"updating":[57],"dynamic":[59],"two":[66],"ways:":[67],"by":[68,74],"refining":[69],"input-output":[71],"relation":[72],"addressing":[75],"prediction":[76],"errors.":[79],"To":[80],"achieve":[81],"this,":[82],"utilize":[84],"tracking":[85,111],"performance":[86],"as":[87],"posterior":[89],"evaluation":[90],"metric":[91],"Through":[96],"series":[98],"experiments,":[100],"demonstrate":[102],"our":[104,134],"controller":[105],"is":[106],"capable":[107],"achieving":[109,150],"reference":[110,152],"with":[112],"root":[114],"mean":[115],"square":[116],"error":[117],"(RMSE)":[118],"less":[120],"than":[121],"5%":[122],"across":[123],"different":[124],"stiffness":[125],"levels.":[126],"These":[127],"experimental":[128],"results":[129],"validate":[130],"effectiveness":[132],"proposed":[135],"capturing":[138],"muscles,":[144],"adapting":[145],"varying":[147],"loads,":[148],"precise":[151],"tracking.":[153]},"abstract_inverted_index_v3":null,"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W4405488834","counts_by_year":[],"updated_date":"2025-04-15T13:34:40.094860","created_date":"2024-12-18"}