{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,3,25]],"date-time":"2025-03-25T14:45:39Z","timestamp":1742913939420,"version":"3.40.3"},"publisher-location":"Cham","reference-count":22,"publisher":"Springer International Publishing","isbn-type":[{"type":"print","value":"9783030845285"},{"type":"electronic","value":"9783030845292"}],"license":[{"start":{"date-parts":[[2021,1,1]],"date-time":"2021-01-01T00:00:00Z","timestamp":1609459200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2021,1,1]],"date-time":"2021-01-01T00:00:00Z","timestamp":1609459200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2021]]},"DOI":"10.1007\/978-3-030-84529-2_20","type":"book-chapter","created":{"date-parts":[[2021,8,9]],"date-time":"2021-08-09T15:01:42Z","timestamp":1628521302000},"page":"233-244","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["Sensor-Less Contact Force Estimation in Physical Human-Robot Interaction"],"prefix":"10.1007","author":[{"given":"Quang Dan","family":"Le","sequence":"first","affiliation":[]},{"given":"Hee-Jun","family":"Kang","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2021,8,9]]},"reference":[{"key":"20_CR1","doi-asserted-by":"crossref","unstructured":"Suita, K., Yamada, Y., Tsuchida, N., Imai, K., Ikeda, H., Sugimoto, N.: A failure-to-safety \u201cKyozon\u201d system with simple contact detection and stop capabilities for safe human-autonomous robot coexistence. In: Proceedings of the 1995 IEEE International Conference on Robotics and Automation, pp. 3089\u20133096 (1995)","DOI":"10.1109\/ROBOT.1995.525724"},{"key":"20_CR2","doi-asserted-by":"publisher","unstructured":"Geravand, M., Flacco, F., De Luca, A.: Human-robot physical interaction and collaboration using an industrial robot with a closed control architecture. In: 2013 IEEE International Conference on Robotics and Automation, pp. 4000\u20134007 (2013). https:\/\/doi.org\/10.1109\/ICRA.2013.6631141","DOI":"10.1109\/ICRA.2013.6631141"},{"key":"20_CR3","doi-asserted-by":"crossref","unstructured":"Stolt, A., Robertsson, A., Johansson, R.: Robotic force estimation using dithering to decrease the low velocity friction uncertainties. In: 2015 IEEE International Conference on Robotics and Automation (ICRA), pp. 3896\u20133902 (2015)","DOI":"10.1109\/ICRA.2015.7139742"},{"key":"20_CR4","doi-asserted-by":"crossref","unstructured":"Duchaine, V., Lauzier, N., Baril, M., Lacasse, M.-A., Gosselin, C.: A flexible robot skin for safe physical human robot interaction. In: IEEE International Conference on Robotics and Automation, ICRA 2009, pp. 3676\u20133681 (2009)","DOI":"10.1109\/ROBOT.2009.5152595"},{"key":"20_CR5","doi-asserted-by":"publisher","first-page":"41","DOI":"10.1109\/LRA.2015.2505061","volume":"1","author":"A Cirillo","year":"2016","unstructured":"Cirillo, A., Ficuciello, F., Natale, C., Pirozzi, S., Villani, L.: A conformable force\/tactile skin for physical human\u2013robot interaction. IEEE Robot. Autom. Lett. 1, 41\u201348 (2016)","journal-title":"IEEE Robot. Autom. Lett."},{"key":"20_CR6","doi-asserted-by":"crossref","unstructured":"Magrini, E., Flacco, F., De Luca, A.: Estimation of contact forces using a virtual force sensor. In: 2014 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), pp. 2126\u20132133 (2014)","DOI":"10.1109\/IROS.2014.6942848"},{"key":"20_CR7","unstructured":"Ebert, D., Henrich, D.: Safe human-robot-cooperation: Image-based collision detection for industrial robots (2002)"},{"key":"20_CR8","doi-asserted-by":"crossref","unstructured":"Eom, K.S., Suh, I.H., Chung, W.K., Oh, S.-R.: Disturbance observer based force control of robot manipulator without force sensor. In: Proceedings of the 1998 IEEE International Conference on Robotics and Automation, pp. 3012\u20133017 (1998)","DOI":"10.1109\/ROBOT.1998.680888"},{"key":"20_CR9","doi-asserted-by":"crossref","unstructured":"Gaz, C., Magrini, E., De Luca, A.: A model-based residual approach for human-robot collaboration during manual polishing operations. Mechatronics (2018)","DOI":"10.1016\/j.mechatronics.2018.02.014"},{"key":"20_CR10","doi-asserted-by":"crossref","unstructured":"Magrini, E., Flacco, F., De Luca, A.: Control of generalized contact motion and force in physical human-robot interaction. In: 2015 IEEE International Conference on Robotics and Automation (ICRA), pp. 2298\u20132304 (2015)","DOI":"10.1109\/ICRA.2015.7139504"},{"key":"20_CR11","unstructured":"De Luca, A., Mattone, R.: Sensorless robot collision detection and hybrid force\/motion control. In: Proceedings of the 2005 IEEE International Conference on Robotics and Automation, ICRA 2005, pp. 999\u20131004 (2005)"},{"key":"20_CR12","doi-asserted-by":"crossref","first-page":"168781401774071","DOI":"10.1177\/1687814017740710","volume":"10","author":"S Chen","year":"2018","unstructured":"Chen, S., Luo, M., He, F.: A universal algorithm for sensorless collision detection of robot actuator faults. Adv. Mech. Eng. 10, 1687814017740710 (2018)","journal-title":"Adv. Mech. Eng."},{"key":"20_CR13","doi-asserted-by":"publisher","first-page":"3365","DOI":"10.1109\/TIE.2017.2748056","volume":"65","author":"J Hu","year":"2018","unstructured":"Hu, J., Xiong, R.: Contact force estimation for robot manipulator using semiparametric model and disturbance Kalman filter. IEEE Trans. Ind. Electron. 65, 3365\u20133375 (2018)","journal-title":"IEEE Trans. Ind. Electron."},{"key":"20_CR14","doi-asserted-by":"publisher","first-page":"110","DOI":"10.1016\/j.automatica.2017.02.031","volume":"80","author":"HK Khalil","year":"2017","unstructured":"Khalil, H.K.: Cascade high-gain observers in output feedback control. Automatica 80, 110\u2013118 (2017)","journal-title":"Automatica"},{"key":"20_CR15","doi-asserted-by":"publisher","first-page":"918","DOI":"10.1109\/TIE.2017.2721883","volume":"65","author":"SK Kommuri","year":"2018","unstructured":"Kommuri, S.K., Rath, J.J., Veluvolu, K.C.: Sliding-mode-based observer-controller structure for fault-resilient control in DC servomotors. IEEE Trans. Ind. Electron. 65, 918\u2013929 (2018)","journal-title":"IEEE Trans. Ind. Electron."},{"key":"20_CR16","doi-asserted-by":"crossref","unstructured":"Fridman, L., Shtessel, Y., Edwards, C., Yan, X.-G.: Higher-order sliding-mode observer for state estimation and input reconstruction in nonlinear systems. Int. J. Robust Nonlinear Control IFAC Affiliated J. 18, 399\u2013412 (2008)","DOI":"10.1002\/rnc.1198"},{"key":"20_CR17","doi-asserted-by":"publisher","first-page":"474","DOI":"10.1109\/TCST.2004.824320","volume":"12","author":"S Jung","year":"2004","unstructured":"Jung, S., Hsia, T.C., Bonitz, R.G.: Force tracking impedance control of robot manipulators under unknown environment. IEEE Trans. Control Syst. Technol. 12, 474\u2013483 (2004). https:\/\/doi.org\/10.1109\/TCST.2004.824320","journal-title":"IEEE Trans. Control Syst. Technol."},{"key":"20_CR18","doi-asserted-by":"crossref","unstructured":"Van, M., Ge, S.S., Ren, H.: Robust fault-tolerant control for a class of second-order nonlinear systems using an adaptive third-order sliding mode control. IEEE Trans. Syst. Man Cybern. Syst. 47, 221\u2013228 (2017)","DOI":"10.1109\/TSMC.2016.2557220"},{"key":"20_CR19","doi-asserted-by":"crossref","unstructured":"Ortiz-Ricardez, F.A., S\u00e1nchez, T., Moreno, J.A.: Smooth Lyapunov function and gain design for a second order differentiator. In: 2015 IEEE 54th Annual Conference on Decision and Control (CDC), pp. 5402\u20135407 (2015)","DOI":"10.1109\/CDC.2015.7403065"},{"key":"20_CR20","doi-asserted-by":"publisher","first-page":"660","DOI":"10.1016\/j.ifacol.2016.10.241","volume":"49","author":"E Cruz-Zavala","year":"2016","unstructured":"Cruz-Zavala, E., Moreno, J.A.: Lyapunov functions for continuous and discontinuous differentiators. IFAC-PapersOnLine 49, 660\u2013665 (2016)","journal-title":"IFAC-PapersOnLine"},{"key":"20_CR21","doi-asserted-by":"publisher","first-page":"235","DOI":"10.1016\/j.isatra.2018.03.014","volume":"76","author":"M Bahrami","year":"2018","unstructured":"Bahrami, M., Naraghi, M., Zareinejad, M.: Adaptive super-twisting observer for fault reconstruction in electro-hydraulic systems. ISA Trans. 76, 235\u2013245 (2018)","journal-title":"ISA Trans."},{"key":"20_CR22","doi-asserted-by":"publisher","first-page":"2347","DOI":"10.1049\/iet-cta.2018.5380","volume":"12","author":"D Luo","year":"2018","unstructured":"Luo, D., Xiong, X., Jin, S., Kamal, S.: Adaptive gains of dual level to super-twisting algorithm for sliding mode design. IET Control Theory Appl. 12, 2347\u20132356 (2018)","journal-title":"IET Control Theory Appl."}],"container-title":["Lecture Notes in Computer Science","Intelligent Computing Theories and Application"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/978-3-030-84529-2_20","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,9,6]],"date-time":"2024-09-06T03:37:41Z","timestamp":1725593861000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/978-3-030-84529-2_20"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021]]},"ISBN":["9783030845285","9783030845292"],"references-count":22,"URL":"https:\/\/doi.org\/10.1007\/978-3-030-84529-2_20","relation":{},"ISSN":["0302-9743","1611-3349"],"issn-type":[{"type":"print","value":"0302-9743"},{"type":"electronic","value":"1611-3349"}],"subject":[],"published":{"date-parts":[[2021]]},"assertion":[{"value":"9 August 2021","order":1,"name":"first_online","label":"First Online","group":{"name":"ChapterHistory","label":"Chapter History"}},{"value":"ICIC","order":1,"name":"conference_acronym","label":"Conference Acronym","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"International Conference on Intelligent Computing","order":2,"name":"conference_name","label":"Conference Name","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Shenzhen","order":3,"name":"conference_city","label":"Conference City","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"China","order":4,"name":"conference_country","label":"Conference Country","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"2021","order":5,"name":"conference_year","label":"Conference Year","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"12 August 2021","order":7,"name":"conference_start_date","label":"Conference Start Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"15 August 2021","order":8,"name":"conference_end_date","label":"Conference End Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"17","order":9,"name":"conference_number","label":"Conference Number","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"icic2021a","order":10,"name":"conference_id","label":"Conference ID","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"http:\/\/www.ic-icc.cn\/2021\/index.htm","order":11,"name":"conference_url","label":"Conference URL","group":{"name":"ConferenceInfo","label":"Conference Information"}}]}}