{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,13]],"date-time":"2026-05-13T07:44:26Z","timestamp":1778658266897,"version":"3.51.4"},"reference-count":30,"publisher":"Springer Science and Business Media LLC","issue":"1","license":[{"start":{"date-parts":[[1997,1,1]],"date-time":"1997-01-01T00:00:00Z","timestamp":852076800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[1997,1,1]],"date-time":"1997-01-01T00:00:00Z","timestamp":852076800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Journal of Intelligent and Robotic Systems"],"published-print":{"date-parts":[[1997,1]]},"DOI":"10.1023\/a:1007946400645","type":"journal-article","created":{"date-parts":[[2002,12,22]],"date-time":"2002-12-22T12:13:40Z","timestamp":1040559220000},"page":"1-16","source":"Crossref","is-referenced-by-count":16,"title":["Force Sensing Using Kalman Filtering Techniques for Robot Compliant Motion Control"],"prefix":"10.1007","volume":"18","author":[{"given":"Shih-Tin","family":"Lin","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","reference":[{"issue":"9","key":"113999_CR1","doi-asserted-by":"crossref","first-page":"1051","DOI":"10.1109\/9.58535","volume":"35","author":"J. S. Bay","year":"1990","unstructured":"Bay, J. S. and Hemami, H.: Dynamics of a learning controller for surface tracking robots on unknown surfaces, IEEE Trans. Automat. Control\n35(9) (1990), 1051\u20131054.","journal-title":"IEEE Trans. Automat. Control"},{"key":"113999_CR2","doi-asserted-by":"crossref","first-page":"1055","DOI":"10.1109\/TAC.1987.1104524","volume":"AC-32","author":"R. Blauer","year":"1987","unstructured":"Blauer, R. and Belanger, P.: State and parameter estimation for robot manipulators using force measurements, IEEE Trans. Automat. Control\nAC-32(1987), 1055\u20131066.","journal-title":"IEEE Trans. Automat. Control"},{"key":"113999_CR3","doi-asserted-by":"crossref","unstructured":"Cai, L. and Goldenberg, A.: Robust control of position and force for a robot manipulator in non-contact and contact tasks, in Proc. of the American Control Conf., 1989, pp. 1905\u20131911.","DOI":"10.23919\/ACC.1989.4790504"},{"key":"113999_CR4","doi-asserted-by":"crossref","unstructured":"Cole, A.: Control of robot manipulators with constrained motion, in IEEE Proc. of the Conf. on Decision and Control, 1989, pp. 1657\u20131658.","DOI":"10.1109\/CDC.1989.70429"},{"key":"113999_CR5","unstructured":"Craig, J. J.: Introduction to Robotics, Mechanics, and Controls, Addison-Wesley, 1986."},{"key":"113999_CR6","unstructured":"Craig, J. J.: Adaptive Control of Mechanical Manipulator, Addison-Wesley, 1988."},{"key":"113999_CR7","first-page":"155","volume":"14","author":"Y. Ekalo","year":"1995","unstructured":"Ekalo, Y. and Vukobratovic, M.: Quality of stabilization of robots interacting with dynamic environment, J. Int. Robotic Sys.\n14(1995), 155\u2013179.","journal-title":"J. Int. Robotic Sys."},{"issue":"4","key":"113999_CR8","doi-asserted-by":"crossref","first-page":"481","DOI":"10.1002\/rob.4620100406","volume":"10","author":"M. T. Grabbe","year":"1993","unstructured":"Grabbe, M. T., Carroll, J. J., Dawson, D. M., and Qu, Z.: Review and unification of reduced-order force control methods, J. Robotic Sys.\n10(4) (1993), 481\u2013504.","journal-title":"J. Robotic Sys."},{"key":"113999_CR9","volume-title":"Dynamic System Identification: Experiment Design and Data Analysis","author":"G. C. Goodwin","year":"1977","unstructured":"Goodwin, G. C. and Payne, R. L.: Dynamic System Identification: Experiment Design and Data Analysis, Academic Press, New York, 1977."},{"key":"113999_CR10","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1115\/1.3140702","volume":"107","author":"N. Hogan","year":"1985","unstructured":"Hogan, N.: Impedance control: An approach to manipulation. Part 1: Theory; Part 2: Implementation; Part 3: Application, ASME J. Dyn. Sys. Meas. Cont.\n107(1985), 1\u201324.","journal-title":"ASME J. Dyn. Sys. Meas. Cont."},{"key":"113999_CR11","first-page":"1047","volume":"2","author":"N. Hogan","year":"1987","unstructured":"Hogan, N.: Stable execution of contact tasks using impedance control, IEEE Int. Conf. Robotics & Automation\n2(1987), 1047\u20131054.","journal-title":"IEEE Int. Conf. Robotics & Automation"},{"key":"113999_CR12","doi-asserted-by":"crossref","first-page":"163","DOI":"10.1109\/56.2080","volume":"4","author":"R. Kankaanranta","year":"1988","unstructured":"Kankaanranta, R. and Koivo, H.: Dynamics and simulation of compliant motion of a manipulator, IEEE J. Robotics and Automation\n4(1988), 163\u2013173.","journal-title":"IEEE J. Robotics and Automation"},{"key":"113999_CR13","doi-asserted-by":"crossref","first-page":"83","DOI":"10.1109\/JRA.1986.1087045","volume":"RA-2","author":"H. Kazerooni","year":"1986","unstructured":"Kazerooni, H., Sheridan, T. B., and Houpt, P. K.: Robust compliant motion for manipulators. Part 1: The fundamental concepts of compliant motion; Part 2: Design method, IEEE J. Robotics and Automation\nRA-2(1986), 83\u2013105.","journal-title":"IEEE J. Robotics and Automation"},{"key":"113999_CR14","first-page":"741","volume":"2","author":"H. Kazerooni","year":"1987","unstructured":"Kazerooni, H.: Robust, nonlinear impedance control for robot manipulator, IEEE Int. Conf. Robotics & Automation\n2(1987), 741\u2013750.","journal-title":"IEEE Int. Conf. Robotics & Automation"},{"issue":"3","key":"113999_CR15","first-page":"134","volume":"4","author":"R. Kelly","year":"1989","unstructured":"Kelly, R., Carelli, R., Amestegui, M., and Ortega, R.: Adaptive impedance control of robot manipulators, Int. J. Robotics & Automation\n4(3) (1989), 134\u2013141.","journal-title":"Int. J. Robotics & Automation"},{"key":"113999_CR16","doi-asserted-by":"crossref","first-page":"48","DOI":"10.1115\/1.2894138","volume":"112","author":"C. Y. Koo","year":"1990","unstructured":"Koo, C. Y. and Wang, S. P. T.: Nonlinear robust hybrid control of robotic manipulators, ASME J. Dyn. Sys. Meas. Cont.\n112(1990), 48\u201354.","journal-title":"ASME J. Dyn. Sys. Meas. Cont."},{"key":"113999_CR17","volume-title":"Theory and Practice of Recursive Identification","author":"L. Ljung","year":"1983","unstructured":"Ljung, L. and Soderstrom, T.: Theory and Practice of Recursive Identification, MIT Press, Cambridge, MA, 1983."},{"key":"113999_CR18","volume-title":"System Identification","author":"L. Ljung","year":"1987","unstructured":"Ljung, L.: System Identification, Theory for the User, Prentice-Hall, Englewood Cliffs, NJ, 1987."},{"key":"113999_CR19","doi-asserted-by":"crossref","unstructured":"McClamroch, N.: Singular systems of differential equations as dynamic models for constrained robot systems, in Proc. of IEEE Conf. on Robotics and Automation, 1986, pp. 419\u2013426.","DOI":"10.1109\/ROBOT.1986.1087712"},{"key":"113999_CR20","doi-asserted-by":"crossref","first-page":"419","DOI":"10.1109\/9.1220","volume":"33","author":"N. McClamroch","year":"1988","unstructured":"McClamroch, N. and Wang, D.: Feedback stabilization and tracking of constrained robots, IEEE Trans. Automat. Control\n33(1988), 419\u2013426.","journal-title":"IEEE Trans. Automat. Control"},{"key":"113999_CR21","first-page":"418","volume":"SMC-11","author":"M. T. Mason","year":"1991","unstructured":"Mason, M. T.: Compliance and force control for computer controlled manipulators, IEEE Trans. Systems, Man and Cybernetics\nSMC-11(1991), 418\u2013432.","journal-title":"IEEE Trans. Systems, Man and Cybernetics"},{"key":"113999_CR22","volume-title":"Digital Control and Estimation, a Unified Approach","author":"R. H. Middleton","year":"1990","unstructured":"Middleton, R. H. and Goodwin, G. C.: Digital Control and Estimation, a Unified Approach, Prentice-Hall, Englewood Cliffs, NJ, 1990."},{"key":"113999_CR23","unstructured":"Mills, J. K.:Manipulator transition to and from contact tasks: A discontinuous control approach, IEEE Int. Conf. Robotics & Automation, 1990."},{"key":"113999_CR24","doi-asserted-by":"crossref","unstructured":"Raibert, M. H. and Craig, J. J.: Hybrid position\/force control of manipulator, ASME J. Dyn. Sys. Meas. Cont.(1981), 126\u2013133.","DOI":"10.1115\/1.3139652"},{"key":"113999_CR25","doi-asserted-by":"crossref","unstructured":"Salisbury, J. K.: Active stiffness control of a manipulator in cartesian coordinates, in Proc. IEEE Conf. on Decision and Control, 1980, pp. 95\u2013100.","DOI":"10.1109\/CDC.1980.272026"},{"key":"113999_CR26","volume-title":"System Identification","author":"T. Soderstrom","year":"1989","unstructured":"Soderstrom, T. and Stoica, P.: System Identification, Prentice-Hall, Englewood Cliffs, NJ, 1989."},{"key":"113999_CR27","doi-asserted-by":"crossref","unstructured":"Uchiyama, M. and Kitagaki, K.: Dynamic force sensing for high-speed robot manipulation using Kalman filtering techniques, in Proc. IEEE Conf. on Decision and Control, 1989, pp. 2147\u20132152.","DOI":"10.1109\/CDC.1989.70547"},{"key":"113999_CR28","unstructured":"Vukobratovic, M. and Ekalo, Y.: Unified approach to control laws synthesis for robotic manipulators in contact with dynamic environment, in Proc. IEEE Conf. on Robotics and Automation, 1993, pp. 212\u2013229."},{"key":"113999_CR29","doi-asserted-by":"crossref","unstructured":"Wang, D. and McClamroch, N.: Position\/force control design for constrained mechanical systems: Lyapunov\u2019s direct method, in Proc. of IEEE Conf. on Decision and Control, 1989, pp. 1665\u20131669.","DOI":"10.1109\/CDC.1989.70431"},{"key":"113999_CR30","unstructured":"Whitney, D. E.: Force feedback control of manipulator fine motions, J. Dyn. Sys. Meas. Cont. (1977), 91\u201397.T1327.tex; 13\/12\/1996; 11:50; v.5; p.16"}],"container-title":["Journal of Intelligent and Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1023\/A:1007946400645.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1023\/A:1007946400645\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1023\/A:1007946400645.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,6]],"date-time":"2025-06-06T14:16:48Z","timestamp":1749219408000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1023\/A:1007946400645"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1997,1]]},"references-count":30,"journal-issue":{"issue":"1","published-print":{"date-parts":[[1997,1]]}},"alternative-id":["113999"],"URL":"https:\/\/doi.org\/10.1023\/a:1007946400645","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"value":"0921-0296","type":"print"},{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[1997,1]]}}}