{"id":"https://openalex.org/W2021600527","doi":"https://doi.org/10.1002/(sici)1097-4563(199908)16:8<433::aid-rob2>3.0.co;2-b","title":"A decomposition approach for the kinematic synthesis of tendon-driven manipulators","display_name":"A decomposition approach for the kinematic synthesis of tendon-driven manipulators","publication_year":1999,"publication_date":"1999-08-01","ids":{"openalex":"https://openalex.org/W2021600527","doi":"https://doi.org/10.1002/(sici)1097-4563(199908)16:8<433::aid-rob2>3.0.co;2-b","mag":"2021600527"},"language":"en","primary_location":{"id":"doi:10.1002/(sici)1097-4563(199908)16:8<433::aid-rob2>3.0.co;2-b","is_oa":false,"landing_page_url":"https://doi.org/10.1002/(sici)1097-4563(199908)16:8<433::aid-rob2>3.0.co;2-b","pdf_url":null,"source":{"id":"https://openalex.org/S6068926","display_name":"Journal of Robotic Systems","issn_l":"0741-2223","issn":["0741-2223","1097-4563"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotic Systems","raw_type":"journal-article"},"type":"article","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/A5100428811","display_name":"Dar\u2010Zen Chen","orcid":"https://orcid.org/0000-0002-7734-4835"},"institutions":[{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]}],"countries":["TW"],"is_corresponding":true,"raw_author_name":"Dar-Zen Chen","raw_affiliation_strings":["Department of Mechanical Engineering, National Taiwan University, Taipei, Taiwan, Republic of China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National Taiwan University, Taipei, Taiwan, Republic of China","institution_ids":["https://openalex.org/I16733864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044686661","display_name":"Jiun-Chin Su","orcid":null},"institutions":[{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Jiun-Chin Su","raw_affiliation_strings":["Department of Mechanical Engineering, National Taiwan University, Taipei, Taiwan, Republic of China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National Taiwan University, Taipei, Taiwan, Republic of China","institution_ids":["https://openalex.org/I16733864"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061159811","display_name":"Kang-Li Yao","orcid":null},"institutions":[{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Kang-Li Yao","raw_affiliation_strings":["Department of Mechanical Engineering, National Taiwan University, Taipei, Taiwan, Republic of China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National Taiwan University, Taipei, Taiwan, Republic of China","institution_ids":["https://openalex.org/I16733864"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100428811"],"corresponding_institution_ids":["https://openalex.org/I16733864"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.13883373,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"16","issue":"8","first_page":"433","last_page":"443"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T11525","display_name":"Piezoelectric Actuators and Control","score":0.998199999332428,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10369","display_name":"Advanced MEMS and NEMS Technologies","score":0.9817000031471252,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/kinematics","display_name":"Kinematics","score":0.731048583984375},{"id":"https://openalex.org/keywords/transformation","display_name":"Transformation (genetics)","score":0.5932912826538086},{"id":"https://openalex.org/keywords/tendon","display_name":"Tendon","score":0.5589900612831116},{"id":"https://openalex.org/keywords/transformation-matrix","display_name":"Transformation matrix","score":0.49011334776878357},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.4871642291545868},{"id":"https://openalex.org/keywords/matrix-decomposition","display_name":"Matrix decomposition","score":0.45369675755500793},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4389406740665436},{"id":"https://openalex.org/keywords/matrix","display_name":"Matrix (chemical analysis)","score":0.41951489448547363},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.38711458444595337},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.36856749653816223},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3024848699569702},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2188299000263214},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.18877556920051575},{"id":"https://openalex.org/keywords/eigenvalues-and-eigenvectors","display_name":"Eigenvalues and eigenvectors","score":0.15919694304466248},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.12572279572486877},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.11273279786109924},{"id":"https://openalex.org/keywords/chemistry","display_name":"Chemistry","score":0.07454386353492737}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.731048583984375},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.5932912826538086},{"id":"https://openalex.org/C2780105995","wikidata":"https://www.wikidata.org/wiki/Q232358","display_name":"Tendon","level":2,"score":0.5589900612831116},{"id":"https://openalex.org/C165443888","wikidata":"https://www.wikidata.org/wiki/Q1482183","display_name":"Transformation matrix","level":3,"score":0.49011334776878357},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.4871642291545868},{"id":"https://openalex.org/C42355184","wikidata":"https://www.wikidata.org/wiki/Q1361088","display_name":"Matrix decomposition","level":3,"score":0.45369675755500793},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4389406740665436},{"id":"https://openalex.org/C106487976","wikidata":"https://www.wikidata.org/wiki/Q685816","display_name":"Matrix (chemical analysis)","level":2,"score":0.41951489448547363},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.38711458444595337},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.36856749653816223},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3024848699569702},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2188299000263214},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.18877556920051575},{"id":"https://openalex.org/C158693339","wikidata":"https://www.wikidata.org/wiki/Q190524","display_name":"Eigenvalues and eigenvectors","level":2,"score":0.15919694304466248},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.12572279572486877},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.11273279786109924},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.07454386353492737},{"id":"https://openalex.org/C43617362","wikidata":"https://www.wikidata.org/wiki/Q170050","display_name":"Chromatography","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1002/(sici)1097-4563(199908)16:8<433::aid-rob2>3.0.co;2-b","is_oa":false,"landing_page_url":"https://doi.org/10.1002/(sici)1097-4563(199908)16:8<433::aid-rob2>3.0.co;2-b","pdf_url":null,"source":{"id":"https://openalex.org/S6068926","display_name":"Journal of Robotic Systems","issn_l":"0741-2223","issn":["0741-2223","1097-4563"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotic Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1999306089","https://openalex.org/W2003025902","https://openalex.org/W2007311438","https://openalex.org/W2008796702","https://openalex.org/W2031370105","https://openalex.org/W2046948908","https://openalex.org/W2084846641","https://openalex.org/W2085545845","https://openalex.org/W2167064280","https://openalex.org/W3136729020","https://openalex.org/W6602390107"],"related_works":["https://openalex.org/W2789522126","https://openalex.org/W2066693961","https://openalex.org/W2100079542","https://openalex.org/W1994539089","https://openalex.org/W1515939773","https://openalex.org/W1986672664","https://openalex.org/W2112938363","https://openalex.org/W1601028106","https://openalex.org/W2490859597","https://openalex.org/W2383398300"],"abstract_inverted_index":{"This":[0],"article":[1],"describes":[2],"a":[3,40,86],"decomposition":[4],"methodology":[5],"for":[6,70,84],"the":[7,16,19,25,28,50,54,58,71,75],"kinematic":[8,90],"synthesis":[9],"of":[10,30],"tendon-driven":[11],"manipulators":[12],"(TDMs).":[13],"Based":[14],"on":[15],"QR":[17],"factorization,":[18],"complex":[20],"transformation":[21,52,73],"between":[22,53,74],"vectors":[23],"in":[24],"tendon-space":[26,56,78],"and":[27,57,79,98],"joint-space":[29],"an":[31],"n-DOF":[32],"TDM":[33,87],"with":[34,94],"n+1":[35],"tendons":[36],"is":[37,46,67],"decomposed":[38],"as":[39],"two-step":[41],"transformation.":[42],"An":[43,63],"orientation":[44],"matrix":[45,66],"used":[47],"to":[48,88],"characterize":[49],"vector":[51,72],"(n+1)-dimensional":[55],"n-dimensional":[59,76,80],"intermediate":[60],"equivalent":[61,64,77],"tendon-space.":[62],"structure":[65],"also":[68],"introduced":[69],"joint-space.":[81],"Design":[82],"equations":[83],"synthesizing":[85],"possess":[89],"isotropic":[91],"transmission":[92],"characteristics":[93],"proper":[95],"tendon":[96],"routing":[97],"pulley":[99],"sizes":[100],"are":[101],"derived.":[102],"\u00a91999":[103],"John":[104],"Wiley":[105],"&":[106],"Sons,":[107],"Inc.":[108]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2012,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}