{"id":"https://openalex.org/W4285139112","doi":"https://doi.org/10.1007/978-3-031-08140-8_25","title":"Design and Inverse Kinematics of a Novel Tendon-Driven Continuum Manipulator Capable of Twisting Motion","display_name":"Design and Inverse Kinematics of a Novel Tendon-Driven Continuum Manipulator Capable of Twisting Motion","publication_year":2022,"publication_date":"2022-01-01","ids":{"openalex":"https://openalex.org/W4285139112","doi":"https://doi.org/10.1007/978-3-031-08140-8_25"},"language":"en","primary_location":{"id":"doi:10.1007/978-3-031-08140-8_25","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-031-08140-8_25","pdf_url":null,"source":{"id":"https://openalex.org/S4210172544","display_name":"Springer proceedings in advanced robotics","issn_l":"2511-1256","issn":["2511-1256","2511-1264"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319972","host_organization_name":"Springer International Publishing","host_organization_lineage":["https://openalex.org/P4310319972","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer International Publishing","Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Springer Proceedings in Advanced Robotics","raw_type":"book-chapter"},"type":"book-chapter","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/A5022815255","display_name":"Yuhang Lei","orcid":null},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Yuhang Lei","raw_affiliation_strings":["Tokyo Institute of Technology, Meguro-ku, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Tokyo Institute of Technology, Meguro-ku, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074862811","display_name":"Yusuke Sugahara","orcid":"https://orcid.org/0000-0003-0222-7180"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yusuke Sugahara","raw_affiliation_strings":["Tokyo Institute of Technology, Meguro-ku, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Tokyo Institute of Technology, Meguro-ku, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020891237","display_name":"Yukio Takeda","orcid":"https://orcid.org/0000-0002-6910-3329"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yukio Takeda","raw_affiliation_strings":["Tokyo Institute of Technology, Meguro-ku, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Tokyo Institute of Technology, Meguro-ku, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5022815255"],"corresponding_institution_ids":["https://openalex.org/I114531698"],"apc_list":null,"apc_paid":null,"fwci":2.5821,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.8925223,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"228","last_page":"236"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9901000261306763,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9894000291824341,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7258743047714233},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.682244062423706},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.5273593068122864},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5062333941459656},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.49103498458862305},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4388889968395233},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.43447840213775635},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.43312472105026245},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3984341025352478},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3932102620601654},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3685324192047119},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.367384672164917},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3343408703804016},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2733960747718811},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.23729586601257324},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.21577340364456177},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19218596816062927},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.12438085675239563}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7258743047714233},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.682244062423706},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.5273593068122864},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5062333941459656},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.49103498458862305},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4388889968395233},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.43447840213775635},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.43312472105026245},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3984341025352478},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3932102620601654},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3685324192047119},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.367384672164917},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3343408703804016},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2733960747718811},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.23729586601257324},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.21577340364456177},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19218596816062927},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.12438085675239563},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1007/978-3-031-08140-8_25","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-031-08140-8_25","pdf_url":null,"source":{"id":"https://openalex.org/S4210172544","display_name":"Springer proceedings in advanced robotics","issn_l":"2511-1256","issn":["2511-1256","2511-1264"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319972","host_organization_name":"Springer International Publishing","host_organization_lineage":["https://openalex.org/P4310319972","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer International Publishing","Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Springer Proceedings in Advanced Robotics","raw_type":"book-chapter"},{"id":"pmh:oai:irdb.nii.ac.jp:00897:0005478371","is_oa":false,"landing_page_url":"http://t2r2.star.titech.ac.jp/cgi-bin/publicationinfo.cgi?q_publication_content_number=CTT100878672","pdf_url":null,"source":{"id":"https://openalex.org/S7407056385","display_name":"Institutional Repositories DataBase (IRDB)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I184597095","host_organization_name":"National Institute of Informatics","host_organization_lineage":["https://openalex.org/I184597095"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Advances in Robot Kinematics 2022. ARK 2022. Springer Proceedings in Advanced Robotics","raw_type":"conference paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":4,"referenced_works":["https://openalex.org/W1964047266","https://openalex.org/W2101797976","https://openalex.org/W2122748217","https://openalex.org/W2527408187"],"related_works":["https://openalex.org/W2084494155","https://openalex.org/W2119963650","https://openalex.org/W2972304526","https://openalex.org/W2367567586","https://openalex.org/W2380210784","https://openalex.org/W2351085177","https://openalex.org/W2770397302","https://openalex.org/W2375415610","https://openalex.org/W2058205375","https://openalex.org/W2005706483"],"abstract_inverted_index":null,"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
