{"id":"W4402915179","doi":"10.1109/tase.2024.3462958","title":"Simultaneous Position-and-Stiffness Control of Underactuated Antagonistic Tendon-Driven Continuum Robots","year":2024,"lang":"en","type":"article","venue":"IEEE Transactions on Automation Science and Engineering","topic":"Dynamics and Control of Mechanical Systems","field":"Engineering","cited_by":13,"is_retracted":false,"has_abstract":true,"ca_institutions":"Polytechnique Montréal","funders":"Natural Sciences and Engineering Research Council of Canada; Australian Research Council; University of Technology Sydney","keywords":"Underactuation; Stiffness; Robot; Control theory (sociology); Tendon; Position (finance); Kinematics; Computer science; Control engineering; Engineering; Control (management); Structural engineering; Physics; Classical mechanics; Artificial intelligence; Anatomy; Biology","routes":{"ca_aff":true,"ca_fund":true,"ca_venue":false,"about_ca":false,"invisible_to_affiliation_only":false},"retraction":null,"screen":null,"direct_labels":[],"prediction":{"model_version":"codex-gemma-dda1882f352a","candidate_categories":[],"consensus_categories":[],"category_scores_codex":[0.0001815584,0.0001218724,0.0001689229,0.0002360011,0.00008769684,0.0001484481,0.00007470671,0.00004979537,0.000006221524],"category_scores_gemma":[0.00001653872,0.0001144236,0.0000312552,0.0003604247,0.00005140068,0.0002591561,8.095053e-7,0.0001158732,0.000008150328],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.00008097794,"about_ca_system_score_gemma":0.00002989058,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.000009124307,"about_ca_topic_score_gemma":0.00000386437,"domain_scores_codex":[0.9991807,0.00000616241,0.0002294619,0.000172236,0.0002374577,0.0001739596],"domain_scores_gemma":[0.9995484,0.0001857446,0.00001700319,0.00008788861,0.00007083386,0.00009018097],"domain_codex":null,"domain_gemma":null,"domain_candidate":null,"domain_consensus":null,"study_design_codex":"simulation_or_modeling","study_design_gemma":"simulation_or_modeling","study_design_scores_codex":[0.000003399647,0.000007334612,3.616874e-7,0.0001033254,0.00002487132,0.000005223465,0.0000721644,0.7546296,0.2300833,0.0004906597,0.000001543338,0.01457821],"study_design_scores_gemma":[0.0002505759,0.00003491828,0.00008503137,0.0001814965,0.00003144987,0.00003147254,0.00001618534,0.9944256,0.004752554,0.00003299407,0.00003613082,0.0001215692],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.1158167,0.000131226,0.8827033,0.00008627208,0.0006703655,0.0001445175,0.00002336792,0.00037987,0.00004440118],"genre_scores_gemma":[0.9996539,0.00003744669,0.0002304203,0.00001375637,0.00001834014,0.00001712222,0.000001065672,0.00001602469,0.00001195363],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.8838372,"threshold_uncertainty_score":0.4666057,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.004839257527476514,"score_gpt":0.2089646715294663,"score_spread":0.2041254140019897,"validation_status":"score_only:v0-immature-baseline","note":"Baseline scores from an immature model (maturity gate not passed). Scores rank; they never assert a category."}}