{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,21]],"date-time":"2025-12-21T19:09:00Z","timestamp":1766344140902,"version":"3.37.3"},"reference-count":46,"publisher":"Wiley","license":[{"start":{"date-parts":[[2018,1,1]],"date-time":"2018-01-01T00:00:00Z","timestamp":1514764800000},"content-version":"unspecified","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"BUAP, Mexico","award":["VIEP\u201300110"],"award-info":[{"award-number":["VIEP\u201300110"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Journal of Robotics"],"published-print":{"date-parts":[[2018]]},"abstract":"<jats:p>This paper addresses the explicit force regulation problem for robot manipulators in interaction tasks. A new family of explicit force-control schemes is presented, which includes a term driven by a large class of saturated-type hyperbolic functions to handle the force error. Also, an active velocity damping term with the purpose of obtaining energy dissipation on the contact surface is incorporated plus compensation for gravity. In order to ensure asymptotic stability of the closed-loop system equilibrium point in Cartesian space, we propose a strict Lyapunov function. A force sensor placed at the end-effector of the robot manipulator is used in order to feed back the measure of the force error in the closed-loop, and an experimental comparison of the performance<mml:math xmlns:mml=\"http:\/\/www.w3.org\/1998\/Math\/MathML\" id=\"M1\"><mml:mrow><mml:msub><mml:mrow><mml:mi mathvariant=\"script\">L<\/mml:mi><\/mml:mrow><mml:mrow><mml:mn mathvariant=\"normal\">2<\/mml:mn><\/mml:mrow><\/mml:msub><\/mml:mrow><\/mml:math>-norm between 5 explicit force control schemes, which are the classical proportional-derivative (PD), arctangent, and square-root controls and two members of the proposed control family, on a two-degree-of-freedom, direct-drive robot manipulator, is presented.<\/jats:p>","DOI":"10.1155\/2018\/9324623","type":"journal-article","created":{"date-parts":[[2018,4,16]],"date-time":"2018-04-16T19:31:49Z","timestamp":1523907109000},"page":"1-15","source":"Crossref","is-referenced-by-count":3,"title":["A Family of Hyperbolic-Type Explicit Force Regulators with Active Velocity Damping for Robot Manipulators"],"prefix":"10.1155","volume":"2018","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-5200-7632","authenticated-orcid":true,"given":"Fernando","family":"Reyes-Cort\u00e9s","sequence":"first","affiliation":[{"name":"Facultad de Ciencias de la Electr\u00f3nica, Benem\u00e9rita Universidad Aut\u00f3noma de Puebla, 72570 Puebla, PUE, Mexico"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9576-1667","authenticated-orcid":true,"given":"C\u00e9sar","family":"Ch\u00e1vez-Olivares","sequence":"additional","affiliation":[{"name":"Departamento de Ingenier\u00eda Rob\u00f3tica, Universidad Aut\u00f3noma de Aguascalientes, Campus Sur, Av. Prolongaci\u00f3n Mahatma Gandhi No. 6601, 20340 Aguascalientes, AGS, Mexico"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5682-0070","authenticated-orcid":true,"given":"Emilio J.","family":"Gonz\u00e1lez-Galv\u00e1n","sequence":"additional","affiliation":[{"name":"Facultad de Ingenier\u00eda, Universidad Aut\u00f3noma de San Luis Potos\u00ed, Av. Manuel Nava 8, Zona Universitaria, 78290 San Luis Potos\u00ed, SLP, Mexico"}]}],"member":"311","reference":[{"key":"1","doi-asserted-by":"publisher","DOI":"10.1115\/1.3139652"},{"key":"3","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1115\/1.3140702","volume":"107","year":"mar 1985","journal-title":"ASME Transactions Journal of Dynamic Systems and Measurement Control B"},{"year":"2016","key":"2"},{"key":"4","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1986.1087045"},{"key":"5","doi-asserted-by":"publisher","DOI":"10.1177\/027836498700600101"},{"key":"6","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1987.1087068"},{"key":"7","doi-asserted-by":"publisher","DOI":"10.1109\/9.133190"},{"key":"8","doi-asserted-by":"publisher","DOI":"10.1016\/0957-4158(93)90012-Q"},{"key":"9","doi-asserted-by":"publisher","DOI":"10.1243\/09596518JSCE1069"},{"key":"10","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4615-4431-9"},{"key":"11","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-010-9476-x"},{"issue":"6","key":"12","first-page":"1136","volume":"48","year":"2012","journal-title":"Kybernetika"},{"key":"13","doi-asserted-by":"publisher","DOI":"10.1109\/3516.789685"},{"key":"14","doi-asserted-by":"publisher","DOI":"10.1016\/j.cmpb.2007.07.006"},{"key":"15","doi-asserted-by":"publisher","DOI":"10.1007\/s12369-011-0128-5"},{"key":"39","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2017.2696259"},{"key":"22","doi-asserted-by":"publisher","DOI":"10.1109\/87.481763"},{"key":"23","doi-asserted-by":"publisher","DOI":"10.1109\/41.836356"},{"key":"24","doi-asserted-by":"publisher","DOI":"10.1007\/s12541-011-0054-3"},{"key":"25","doi-asserted-by":"publisher","DOI":"10.1007\/s10845-014-0952-1"},{"key":"16","doi-asserted-by":"publisher","DOI":"10.1109\/56.9307"},{"key":"17","doi-asserted-by":"publisher","DOI":"10.1109\/9.256368"},{"key":"18","doi-asserted-by":"publisher","DOI":"10.1109\/70.246053"},{"key":"19","doi-asserted-by":"publisher","DOI":"10.1109\/9.262033"},{"key":"20","doi-asserted-by":"publisher","DOI":"10.1109\/70.246048"},{"key":"21","doi-asserted-by":"publisher","DOI":"10.1109\/70.478439"},{"key":"26","doi-asserted-by":"publisher","DOI":"10.1109\/70.650162"},{"key":"27","doi-asserted-by":"publisher","DOI":"10.1017\/s026357479700057x"},{"year":"2003","series-title":"Springer Tracts in Advanced Robotics","key":"28"},{"key":"30","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-78317-6"},{"year":"2010","key":"31"},{"key":"32","doi-asserted-by":"publisher","DOI":"10.1080\/01691864.2014.985609"},{"key":"40","doi-asserted-by":"publisher","DOI":"10.2316\/Journal.206.2017.1.206-4899"},{"key":"33","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2013.07.002"},{"key":"34","doi-asserted-by":"publisher","DOI":"10.1007\/s00521-012-0966-6"},{"key":"35","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2014.2361611"},{"issue":"4","key":"36","doi-asserted-by":"crossref","first-page":"478","DOI":"10.1080\/00051144.2015.11828661","volume":"56","year":"2015","journal-title":"Automatika"},{"key":"37","doi-asserted-by":"publisher","DOI":"10.1155\/2015\/918301"},{"key":"38","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2015.2465849"},{"key":"41","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2017.08.003"},{"key":"42","doi-asserted-by":"publisher","DOI":"10.1007\/s00221-017-4995-3"},{"key":"43","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2017.05.015"},{"key":"44","doi-asserted-by":"publisher","DOI":"10.1115\/1.3139651"},{"key":"45","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-69255-3"},{"key":"46","doi-asserted-by":"publisher","DOI":"10.1177\/0959651812456795"},{"key":"47","doi-asserted-by":"publisher","DOI":"10.1002\/(SICI)1099-1115(199607)10:4\/5<465::AID-ACS375>3.0.CO;2-8"}],"container-title":["Journal of Robotics"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/downloads.hindawi.com\/journals\/jr\/2018\/9324623.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/jr\/2018\/9324623.xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/jr\/2018\/9324623.pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,10,15]],"date-time":"2019-10-15T20:27:57Z","timestamp":1571171277000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.hindawi.com\/journals\/jr\/2018\/9324623\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2018]]},"references-count":46,"alternative-id":["9324623","9324623"],"URL":"https:\/\/doi.org\/10.1155\/2018\/9324623","relation":{},"ISSN":["1687-9600","1687-9619"],"issn-type":[{"type":"print","value":"1687-9600"},{"type":"electronic","value":"1687-9619"}],"subject":[],"published":{"date-parts":[[2018]]}}}