{"id":"https://openalex.org/W2102948871","doi":"https://doi.org/10.1109/3516.928730","title":"Performance of gain-tuned harmonic drive torque sensor under load and speed conditions","display_name":"Performance of gain-tuned harmonic drive torque sensor under load and speed conditions","publication_year":2001,"publication_date":"2001-06-01","ids":{"openalex":"https://openalex.org/W2102948871","doi":"https://doi.org/10.1109/3516.928730","mag":"2102948871"},"language":"en","primary_location":{"id":"doi:10.1109/3516.928730","doi":"https://doi.org/10.1109/3516.928730","is_oa":false,"landing_page_url":"https://doi.org/10.1109/3516.928730","pdf_url":null,"source":{"id":"https://openalex.org/S13961689","display_name":"IEEE/ASME Transactions on Mechatronics","issn_l":"1083-4435","issn":["1083-4435","1941-014X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-b","jufo-3","norway-2","poland-140","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE/ASME Transactions on Mechatronics","raw_type":"journal-article"},"volume":null,"type":"article","is_traditional":true,"indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5035490505","display_name":"Ivan Godler","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I17056963","display_name":"The University of Kitakyushu","ror":"https://ror.org/03mfefw72","country_code":"JP","type":"education","lineage":["https://openalex.org/I17056963"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"I. Godler","raw_affiliation_strings":["Faculty of Environmental Engineering, University of Kitakyushu, Kitakyushu, Japan","Fac. of Enivron. Eng., Kitakushu Univ., Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Environmental Engineering, University of Kitakyushu, Kitakyushu, Japan","institution_ids":["https://openalex.org/I17056963"]},{"raw_affiliation_string":"Fac. of Enivron. Eng., Kitakushu Univ., Japan","institution_ids":["https://openalex.org/I17056963"]}]},{"author_position":"middle","author":{"id":null,"display_name":"M. Hashimoto","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I137975476","display_name":"Shinshu University","ror":"https://ror.org/0244rem06","country_code":"JP","type":"education","lineage":["https://openalex.org/I137975476"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"M. Hashimoto","raw_affiliation_strings":["Department of Kansei Engineering, Shinshu University, Ueda, Nagano, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Kansei Engineering, Shinshu University, Ueda, Nagano, Japan","institution_ids":["https://openalex.org/I137975476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111207086","display_name":"M. Horiuchi","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I4405264045","display_name":"Harmonic Drive SYSTEMS Inc. (Japan)","ror":"https://ror.org/00sywd431","country_code":"JP","type":"company","lineage":["https://openalex.org/I4405264045"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"M. Horiuchi","raw_affiliation_strings":["Harmonic Drive Systems, Inc., Nagano, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harmonic Drive Systems, Inc., Nagano, Japan","institution_ids":["https://openalex.org/I4405264045"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011907385","display_name":"Tamotsu Ninomiya","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I135598925","display_name":"Kyushu University","ror":"https://ror.org/00p4k0j84","country_code":"JP","type":"education","lineage":["https://openalex.org/I135598925"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"T. Ninomiya","raw_affiliation_strings":["Department of Electrical and Electronic Systems Engineering, Graduate School of Information Science and Electrical Engineering, Kyushu University, Fukuoka, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronic Systems Engineering, Graduate School of Information Science and Electrical Engineering, Kyushu University, Fukuoka, Japan","institution_ids":["https://openalex.org/I135598925"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":2645,"currency":"USD","value_usd":2645},"apc_paid":null,"fwci":3.4187,"has_fulltext":false,"cited_by_count":26,"citation_normalized_percentile":{"value":0.92841649,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":88,"max":97},"biblio":{"volume":"6","issue":"2","first_page":"155","last_page":"160"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12564","display_name":"Sensor Technology and Measurement Systems","score":0.5820000171661377,"subfield":{"id":"https://openalex.org/subfields/3105","display_name":"Instrumentation"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12564","display_name":"Sensor Technology and Measurement Systems","score":0.5820000171661377,"subfield":{"id":"https://openalex.org/subfields/3105","display_name":"Instrumentation"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13644","display_name":"Control Systems in Engineering","score":0.3472000062465668,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11062","display_name":"Gear and Bearing Dynamics Analysis","score":0.01889999955892563,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/torque-sensing","display_name":"torque sensing","score":0.6769999861717224},{"id":"https://openalex.org/keywords/harmonic-drive","display_name":"harmonic drive","score":0.8389999866485596},{"id":"https://openalex.org/keywords/strain-gauges","display_name":"strain gauges","score":0.8859999775886536},{"id":"https://openalex.org/keywords/flexspline","display_name":"flexspline","score":0.925000011920929},{"id":"https://openalex.org/keywords/controller-gain-tuning","display_name":"controller gain tuning","score":0.6959999799728394},{"id":"https://openalex.org/keywords/load-torque","display_name":"load torque","score":0.8420000076293945},{"id":"https://openalex.org/keywords/rotational-speed","display_name":"rotational speed","score":0.9909999966621399}],"concepts":[{"id":"https://openalex.org/C2777105549","wikidata":"https://www.wikidata.org/wiki/Q751500","display_name":"Harmonic drive","level":2,"score":0.8938202857971191},{"id":"https://openalex.org/C2779675184","wikidata":"https://www.wikidata.org/wiki/Q7826797","display_name":"Torque ripple","level":5,"score":0.7994699478149414},{"id":"https://openalex.org/C60584519","wikidata":"https://www.wikidata.org/wiki/Q610723","display_name":"Strain gauge","level":2,"score":0.7964033484458923},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.7160274386405945},{"id":"https://openalex.org/C2776985865","wikidata":"https://www.wikidata.org/wiki/Q26820931","display_name":"Reducer","level":2,"score":0.6802516579627991},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.6304385662078857},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.565994381904602},{"id":"https://openalex.org/C127934551","wikidata":"https://www.wikidata.org/wiki/Q1148098","display_name":"Harmonic","level":2,"score":0.5248710513114929},{"id":"https://openalex.org/C2779599953","wikidata":"https://www.wikidata.org/wiki/Q1776117","display_name":"Ripple","level":3,"score":0.5116356015205383},{"id":"https://openalex.org/C2779843651","wikidata":"https://www.wikidata.org/wiki/Q7390335","display_name":"SIGNAL (programming language)","level":2,"score":0.49220481514930725},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44911444187164307},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33599501848220825},{"id":"https://openalex.org/C109871850","wikidata":"https://www.wikidata.org/wiki/Q1227571","display_name":"Direct torque control","level":4,"score":0.2929035425186157},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.2792551517486572},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.27434322237968445},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.24444139003753662},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.16973328590393066},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.1667923927307129},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14371907711029053},{"id":"https://openalex.org/C80962145","wikidata":"https://www.wikidata.org/wiki/Q207450","display_name":"Induction motor","level":3,"score":0.09342080354690552},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/3516.928730","doi":"https://doi.org/10.1109/3516.928730","is_oa":false,"landing_page_url":"https://doi.org/10.1109/3516.928730","pdf_url":null,"source":{"id":"https://openalex.org/S13961689","display_name":"IEEE/ASME Transactions on Mechatronics","issn_l":"1083-4435","issn":["1083-4435","1941-014X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-b","jufo-3","norway-2","poland-140","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE/ASME Transactions on Mechatronics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":8,"referenced_works":["https://openalex.org/W2004017403","https://openalex.org/W2115172417","https://openalex.org/W2130888634","https://openalex.org/W2132986003","https://openalex.org/W2141794393","https://openalex.org/W2147538068","https://openalex.org/W2150783677","https://openalex.org/W2168944337"],"related_works":["https://openalex.org/W2130888634","https://openalex.org/W2132986003","https://openalex.org/W2154192606","https://openalex.org/W2147630253","https://openalex.org/W2312840058","https://openalex.org/W2128529764","https://openalex.org/W2139566979","https://openalex.org/W2324682699","https://openalex.org/W4242383550","https://openalex.org/W2004017403"],"abstract_inverted_index":{"Addresses":[0],"the":[1,15,33,40,58,70,74,88,93,103,107,120,125,143],"topic":[2],"of":[3,17,51,73,102,119,142],"torque":[4,134,147],"sensing":[5],"by":[6,39],"using":[7],"strain":[8,27,52,75],"gauges,":[9],"which":[10,36],"are":[11,29,90],"cemented":[12],"directly":[13],"onto":[14],"flexspline":[16],"a":[18,99,110],"harmonic":[19],"drive":[20],"gear":[21,41],"reducer.":[22],"Conventionally,":[23],"two":[24],"or":[25],"four":[26],"gauges":[28,53,76],"used":[30],"to":[31,86],"reduce":[32],"ripple":[34,59],"signal,":[35,105],"is":[37,54,96],"generated":[38],"operation.":[42],"However,":[43],"our":[44],"analysis":[45],"shows":[46],"that":[47],"an":[48],"odd":[49],"number":[50],"more":[55],"suitable":[56],"for":[57],"compensation.":[60],"The":[61],"method":[62,127],"does":[63],"not":[64],"need":[65],"online":[66],"calculations":[67],"and":[68,106,117,128,135,148],"reduces":[69],"needed":[71],"accuracy":[72],"positioning,":[77],"so":[78],"it":[79],"can":[80],"be":[81],"practically":[82],"implemented.":[83],"Two":[84],"techniques":[85],"define":[87],"gains":[89],"presented":[91],"in":[92],"paper.":[94],"One":[95],"based":[97],"on":[98],"mathematical":[100],"model":[101],"fluctuation":[104],"other":[108],"employs":[109],"heuristic":[111],"approach.":[112],"Practical":[113],"results":[114],"show":[115],"effectiveness":[116],"usefulness":[118],"proposed":[121],"method.":[122],"We":[123],"present":[124],"new":[126],"evaluate":[129],"its":[130],"performance":[131,144],"under":[132,145],"load":[133,146],"rotational":[136,151],"speed":[137],"conditions.":[138],"No":[139],"significant":[140],"deterioration":[141],"at":[149],"various":[150],"speeds":[152],"was":[153],"confirmed.":[154]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2017,"cited_by_count":3},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":2}],"updated_date":"2026-11-04T10:54:05.112534","created_date":"2016-06-24T00:00:00"}