{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,17]],"date-time":"2026-07-17T15:30:37Z","timestamp":1784302237263,"version":"3.55.0"},"reference-count":34,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","license":[{"start":{"date-parts":[[2020,1,1]],"date-time":"2020-01-01T00:00:00Z","timestamp":1577836800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/legalcode"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61773007"],"award-info":[{"award-number":["61773007"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100005046","name":"Natural Science Foundation of Heilongjiang Province of China","doi-asserted-by":"publisher","award":["LH2019F016"],"award-info":[{"award-number":["LH2019F016"]}],"id":[{"id":"10.13039\/501100005046","id-type":"DOI","asserted-by":"publisher"}]},{"name":"National Key Research and Development Program of the Ministry of Science and Technology (MOST) of China","award":["2018YFB1307703"],"award-info":[{"award-number":["2018YFB1307703"]}]},{"DOI":"10.13039\/501100004543","name":"China Scholarship Council","doi-asserted-by":"publisher","award":["201906680046"],"award-info":[{"award-number":["201906680046"]}],"id":[{"id":"10.13039\/501100004543","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Access"],"published-print":{"date-parts":[[2020]]},"DOI":"10.1109\/access.2020.2992457","type":"journal-article","created":{"date-parts":[[2020,5,5]],"date-time":"2020-05-05T20:11:41Z","timestamp":1588709501000},"page":"94912-94922","source":"Crossref","is-referenced-by-count":7,"title":["UKF-Based Motion Estimation of Cable-Driven Forceps for Robot-Assisted Surgical System"],"prefix":"10.1109","volume":"8","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-0644-7009","authenticated-orcid":false,"given":"Yusheng","family":"Yan","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Lingtao","family":"Yu","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Changsheng","family":"Li","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xiaoyi","family":"Gu","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6488-1551","authenticated-orcid":false,"given":"Hongliang","family":"Ren","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1016\/j.jprocont.2007.11.004"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-47612-4_2"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1177\/0954406218773780"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1016\/j.amjsurg.2004.08.025"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1016\/j.rcim.2017.09.006"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2006.1642038"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1163\/016918610X522559"},{"key":"ref12","first-page":"57","article-title":"Visual servo control of cable-driven soft robotic manipulator","author":"wang","year":"2013","journal-title":"Proc IEEE\/RSJ Int Conf Intell Robots Syst"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1163\/016918610X522522"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2011.2164929"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2013.11.003"},{"key":"ref16","article-title":"Development of endoscopic forceps manipulator using multi-slider linkage mechanisms","author":"yamashita","year":"2005","journal-title":"Proc 1st Asian Symp Comp -Aided Surg"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2011.2163415"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2014.2327223"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2015.2415838"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2015.7353646"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/JSEN.2019.2903776"},{"key":"ref27","article-title":"Robustness of the unscented Kalman filter for state and parameter estimation in an elastic transmission","author":"naerum","year":"2009","journal-title":"Robotics Science and Systems Citeseer"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2020.2975473"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2020.2974760"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487606"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2016.09.018"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2013.2245143"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/TII.2018.2856108"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/JSEN.2018.2867838"},{"key":"ref1","first-page":"130","article-title":"A laparoscopic grasping tool with force sensing capability","volume":"21","author":"lee","year":"2016","journal-title":"IEEE\/ASME Trans Mechatronics"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1002\/rcs.1751"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2011.2160467"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2017.08.006"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2012.6224809"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.3182\/20110828-6-IT-1002.02040"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2018.2842141"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1115\/DETC2013-13548"},{"key":"ref25","first-page":"231","article-title":"Full closed-loop position control of the surgical cable-driven micromanipulator based on joint angle estimator","volume":"40","author":"wang","year":"2018","journal-title":"Robot"}],"container-title":["IEEE Access"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/6287639\/8948470\/09086436.pdf?arnumber=9086436","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,12,17]],"date-time":"2021-12-17T19:51:51Z","timestamp":1639770711000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9086436\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020]]},"references-count":34,"URL":"https:\/\/doi.org\/10.1109\/access.2020.2992457","relation":{},"ISSN":["2169-3536"],"issn-type":[{"value":"2169-3536","type":"electronic"}],"subject":[],"published":{"date-parts":[[2020]]}}}