{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,8]],"date-time":"2026-04-08T06:06:08Z","timestamp":1775628368398,"version":"3.50.1"},"reference-count":47,"publisher":"Wiley","issue":"7","license":[{"start":{"date-parts":[[2025,5,8]],"date-time":"2025-05-08T00:00:00Z","timestamp":1746662400000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":["onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Journal of Field Robotics"],"published-print":{"date-parts":[[2025,10]]},"abstract":"<jats:title>ABSTRACT<\/jats:title>\n                  <jats:p>\n                    With concerns about safety in human\u2013robot interactions, there is a growing demand for\n                    <jats:italic>inherent<\/jats:italic>\n                    compliance in robot manipulation, especially in healthcare applications, where remote tendon\u2010driven mechanisms have drawn increasing attention, as they can reduce the overall robot joint size and weight by decoupling the motor from the rotary joint via tendon transmission. However, tendon preloading or any external load on the robot links would still be the predominant cause of excessive friction at the joint, deteriorating overall efficiency of the remote mechanical transmission. Our recent work proposed a tensegrity structure as a tendon\u2010driven parallel mechanism for robot joint actuation, in which rotary\/sliding friction at the joint can be totally avoided. The stiffness of such tensional integrity structure could be controlled by just tightening the tendons in parallel. Herein, we intend to integrate both tendon force\/tension sensors and primitive axial stiffness modulators along the tendons, to close the stiffness control loop by a feedback model that estimates statics\u2010equilibrium stiffness. A stiffness controller is also proposed, which can be operated in hybrid feedback modes involving a model\u2010based stiffness estimator and a data\u2010driven compensator. The proposed control framework is validated in particular for robot\u2010assisted ultrasound scanning. We demonstrate that, even using simple or primitive stiffness modulators integrated along the tensegrity tendons, the robot joint stiffness can be controlled steadily under synthesized dynamic disturbances. The proposed data\u2010driven stiffness compensator could compensate for uncertainty in modeling the complex statics equilibrium of our tensegrity structure, ensuring high\u2010fidelity stiffness control.\n                  <\/jats:p>","DOI":"10.1002\/rob.22576","type":"journal-article","created":{"date-parts":[[2025,5,8]],"date-time":"2025-05-08T07:10:31Z","timestamp":1746688231000},"page":"3348-3360","update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["A Controllable\u2010Stiffness Tensegrity Robot Joint for Robust Compliant Manipulation"],"prefix":"10.1002","volume":"42","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-6256-0028","authenticated-orcid":false,"given":"Yifeng","family":"Hao","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering The University of Hong Kong Hong Kong China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2169-3374","authenticated-orcid":false,"given":"Jing","family":"Dai","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering The University of Hong Kong Hong Kong China"}]},{"ORCID":"https:\/\/orcid.org\/0009-0004-1270-3667","authenticated-orcid":false,"given":"Zhiyi","family":"Jiang","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering The University of Hong Kong Hong Kong China"}]},{"given":"Alex Pui\u2010Wai","family":"Lee","sequence":"additional","affiliation":[{"name":"Department of Medicine and Therapeutics The Chinese University of Hong Kong Hong Kong China"}]},{"given":"James","family":"Lam","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering The University of Hong Kong Hong Kong China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1879-9730","authenticated-orcid":false,"given":"Ka\u2010Wai","family":"Kwok","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering The University of Hong Kong Hong Kong China"},{"name":"Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong China"}]}],"member":"311","published-online":{"date-parts":[[2025,5,8]]},"reference":[{"key":"e_1_2_8_2_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.ijsolstr.2010.10.029"},{"key":"e_1_2_8_3_1","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2020.3000182"},{"key":"e_1_2_8_4_1","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2018.0079"},{"key":"e_1_2_8_5_1","doi-asserted-by":"publisher","DOI":"10.1088\/1361-665X\/ad142d"},{"key":"e_1_2_8_6_1","doi-asserted-by":"publisher","DOI":"10.1002\/rob.22051"},{"key":"e_1_2_8_7_1","doi-asserted-by":"publisher","DOI":"10.1109\/tmrb.2023.3268755"},{"key":"e_1_2_8_8_1","doi-asserted-by":"publisher","DOI":"10.1177\/1045389x18799474"},{"key":"e_1_2_8_9_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2893691"},{"key":"e_1_2_8_10_1","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2022.3201322"},{"key":"e_1_2_8_11_1","doi-asserted-by":"publisher","DOI":"10.1109\/tro.2017.2723903"},{"key":"e_1_2_8_12_1","doi-asserted-by":"publisher","DOI":"10.1002\/aisy.202300079"},{"key":"e_1_2_8_13_1","doi-asserted-by":"publisher","DOI":"10.1002\/admt.201900895"},{"key":"e_1_2_8_14_1","doi-asserted-by":"publisher","DOI":"10.1109\/access.2021.3105587"},{"key":"e_1_2_8_15_1","doi-asserted-by":"publisher","DOI":"10.1088\/1361-6560\/abf277"},{"key":"e_1_2_8_16_1","doi-asserted-by":"publisher","DOI":"10.1109\/tie.2021.3068656"},{"key":"e_1_2_8_17_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.sna.2016.06.010"},{"key":"e_1_2_8_18_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abo2179"},{"key":"e_1_2_8_19_1","doi-asserted-by":"publisher","DOI":"10.1109\/tmech.2023.3263922"},{"key":"e_1_2_8_20_1","doi-asserted-by":"publisher","DOI":"10.1109\/lra.2020.2983668"},{"key":"e_1_2_8_21_1","doi-asserted-by":"crossref","unstructured":"Lim D. D.Kim J.Park andIEEE.2021. Momentum Observer\u2010Based Collision Detection Using LSTM for Model Uncertainty Learning.IEEE International Conference on Robotics and Automation ICRA[2021 IEEE International Conference on Robotics and Automation (ICRA 2021)]. IEEE International Conference on Robotics and Automation (ICRA) Xian China.","DOI":"10.1109\/ICRA48506.2021.9561667"},{"key":"e_1_2_8_22_1","doi-asserted-by":"crossref","unstructured":"Liu Y. Q.Bi andY.Li.2021. Development of a Bio\u2010Inspired Soft Robotic Gripper Based on Tensegrity Structures. 2021 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS) Prague Czech Republic.","DOI":"10.1109\/IROS51168.2021.9635929"},{"key":"e_1_2_8_23_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3203585"},{"key":"e_1_2_8_24_1","unstructured":"Liu Z. 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