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Designed to harness the beneficial properties of a physical inerter within a digital framework, a UVI overcomes the limitations inherent in the physical domain, such as mechanical design complexity, significant weight and size, and maintenance requirements. The research emphasizes the exploitation of the energy dissipation capability that emerges as the inerter transitions from a physical to a discrete setting. Although inerters are traditionally viewed as energy storage devices, their adaptation to the digital domain reveals a promising energy dissipation function. Moreover, by utilizing the features of the VI in a unidirectional manner, this study delves into the UVI\u2019s unique advantages in the digital realm, especially its remarkable energy dissipation ability and the dynamic adjustment of gains based on the system\u2019s kinetic energy. This innovative approach, designed to enhance the performance of existing derivative controllers, significantly improves system convergence speed and enhances stability by dissipating the system energy. The paper includes a stability proof using a common Lyapunov function and validates the effectiveness of the UVI in enhancing system stability and tracking accuracy through simulations and experiments with a multi-DoF robotic manipulator. The findings particularly underscore the controller\u2019s efficacy in regulation and trajectory-tracking tasks.<\/jats:p>","DOI":"10.1177\/02783649251363999","type":"journal-article","created":{"date-parts":[[2025,8,8]],"date-time":"2025-08-08T04:49:40Z","timestamp":1754628580000},"page":"583-601","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":0,"title":["Unidirectional virtual inerter for high-bandwidth robot motion control"],"prefix":"10.1177","volume":"45","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-6881-4356","authenticated-orcid":false,"given":"Hyeonseok","family":"Choi","sequence":"first","affiliation":[{"name":"KAIST"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0825-7348","authenticated-orcid":false,"given":"Nam Gyun","family":"Kim","sequence":"additional","affiliation":[{"name":"KAIST"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3160-550X","authenticated-orcid":false,"given":"Seungjoon","family":"Baek","sequence":"additional","affiliation":[{"name":"KAIST"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0987-7493","authenticated-orcid":false,"given":"Christian","family":"Ott","sequence":"additional","affiliation":[{"name":"TU Wien"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6497-7115","authenticated-orcid":false,"given":"Jee-Hwan","family":"Ryu","sequence":"additional","affiliation":[{"name":"KAIST"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2025,8,7]]},"reference":[{"key":"e_1_3_3_2_1","doi-asserted-by":"publisher","DOI":"10.1002\/9781119121534"},{"key":"e_1_3_3_3_1","doi-asserted-by":"publisher","DOI":"10.1109\/MCAS.2008.931738"},{"key":"e_1_3_3_4_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3144492"},{"key":"e_1_3_3_5_1","doi-asserted-by":"publisher","DOI":"10.1117\/12.2558544"},{"key":"e_1_3_3_6_1","doi-asserted-by":"publisher","DOI":"10.1115\/1.4049213"},{"key":"e_1_3_3_7_1","doi-asserted-by":"publisher","DOI":"10.3390\/app10248807"},{"key":"e_1_3_3_8_1","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2021.3138382"},{"key":"e_1_3_3_9_1","doi-asserted-by":"publisher","DOI":"10.1109\/ROBIO.2017.8324547"},{"key":"e_1_3_3_10_1","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2013.6697004"},{"key":"e_1_3_3_11_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4614-0335-7"},{"key":"e_1_3_3_12_1","doi-asserted-by":"publisher","DOI":"10.1177\/0954409713511592"},{"key":"e_1_3_3_13_1","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.1996.573472"},{"key":"e_1_3_3_14_1","doi-asserted-by":"publisher","DOI":"10.2514\/1.C034276"},{"key":"e_1_3_3_15_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4612-0017-8"},{"key":"e_1_3_3_16_1","doi-asserted-by":"publisher","DOI":"10.1061\/(ASCE)EM.1943-7889.0001152"},{"key":"e_1_3_3_17_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2004.829453"},{"key":"e_1_3_3_18_1","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6385690"},{"key":"e_1_3_3_19_1","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574700002848"},{"key":"e_1_3_3_20_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.ymssp.2021.108790"},{"key":"e_1_3_3_21_1","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2002.803532"},{"key":"e_1_3_3_22_1","doi-asserted-by":"publisher","DOI":"10.1146\/annurev-control-053018-023917"},{"key":"e_1_3_3_23_1","volume-title":"Robot Modeling and Control","author":"Spong MW","year":"2020","unstructured":"Spong MW, Hutchinson S, Vidyasagar M (2020) Robot Modeling and Control. 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