{"doi":"10.1016/j.ifacol.2025.12.246","title":"Force Estimation Using MPC Techniques for Micro-Origami Systems","abstract":"Large-deformation microactuators, organized in origami-inspired panel/hinge architectures, can be used to construct a variety of mechanisms for small-scale manipulation. In such manipulation applications, it is often desirable to measure the interaction forces that arise between the actuation mechanism and the external object. At the micro-scale, force estimation can be challenging due to device variability, constraints on space for sensor integration, and limited sensing resolution. This paper presents a simulation study applying a model-predictive control architecture with two different penalty mechanisms to disturbance force estimation in a panel-hinge micro-structure. The proposed architecture is found to provide improved performance over Kalman filter-based approaches in the context of limited sensor resolution and sampling rate. The different penalty mechanisms offer different advantages with respect to either model parameters mismatch or output noise. Performance trends with model error are assessed, with discussion of practical considerations for implementation with prototype micro-origami structures.","journal":"IFAC-PapersOnLine","year":2025,"id":586621,"datarank":0.0,"base_score":0.0,"endowment":0.0,"self_citation_contribution":0.0,"citation_network_contribution":0.0,"self_endowment_contribution":0.0,"citer_contribution":0.0,"corpus_percentile":null,"corpus_rank":null,"citation_count":0,"citer_count":0,"citers_with_citation_signal":0,"citers_with_endowment":0,"datacite_reuse_total":0,"is_dataset":false,"is_dataset_confidence":0.9595,"is_data_producer":false,"deposit_databanks":null,"is_oa":true,"file_count":0,"downloads":0,"has_version_chain":false,"published_date":"2025-01-01","fair_score":null,"fair_percentile":null,"algorithm_id":"datarank_citation_only_1hop_v6","ranking_scope":"data_only","authors":[{"id":1127582,"name":"Chengxi Wang","orcid":null,"position":1,"is_corresponding":false},{"id":1012632,"name":"Joonyoung Yu","orcid":"0000-0003-2586-8853","position":2,"is_corresponding":false},{"id":435596,"name":"Yi Zhu","orcid":"0000-0001-7115-2544","position":3,"is_corresponding":false},{"id":1501194,"name":"Evgueni T. Filipov","orcid":"0000-0003-0675-5255","position":4,"is_corresponding":false},{"id":387992,"name":"Kenn R. Oldham","orcid":"0000-0002-5962-3056","position":5,"is_corresponding":false},{"id":1404272,"name":"Yiwei Yang","orcid":"0000-0001-9930-0561","position":0,"is_corresponding":true}],"reference_count":11,"raw_metadata":null,"created_at":"2026-07-19T02:59:32.191237Z","pmid":null,"pmcid":null,"fwci":null,"citation_percentile":null,"influential_citations":0,"oa_status":null,"license":null,"views":0,"total_file_size_bytes":0,"version_count":0,"fair_f":null,"fair_a":null,"fair_i":null,"fair_r":null,"fair_zscore":null,"fair_rationale":null,"fair_model":null,"fair_agent_version":null,"fair_fulltext_source":null,"fair_has_llm":null,"fair_computed_at":null,"clinical_trials":[],"software_tools":[],"db_accessions":[],"linked_datasets":[],"topics":[]}