{"id":"https://openalex.org/W2171067921","doi":"https://doi.org/10.1017/s0263574713000386","title":"Modeling tendon-sheath mechanism with flexible configurations for robot control","display_name":"Modeling tendon-sheath mechanism with flexible configurations for robot control","publication_year":2013,"publication_date":"2013-05-14","ids":{"openalex":"https://openalex.org/W2171067921","doi":"https://doi.org/10.1017/s0263574713000386","mag":"2171067921"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574713000386","is_oa":true,"landing_page_url":"https://doi.org/10.1017/s0263574713000386","pdf_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/BBEA07F9ECE16BD3CCA0FA4E637DDB50/S0263574713000386a.pdf/div-class-title-modeling-tendon-sheath-mechanism-with-flexible-configurations-for-robot-control-div.pdf","source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"bronze","oa_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/BBEA07F9ECE16BD3CCA0FA4E637DDB50/S0263574713000386a.pdf/div-class-title-modeling-tendon-sheath-mechanism-with-flexible-configurations-for-robot-control-div.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5045214230","display_name":"Zheng Wang","orcid":"https://orcid.org/0000-0002-7726-0770"},"institutions":[{"id":"https://openalex.org/I136199984","display_name":"Harvard University","ror":"https://ror.org/03vek6s52","country_code":"US","type":"education","lineage":["https://openalex.org/I136199984"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zheng Wang","raw_affiliation_strings":["Wyss Institute for Biologically Inspired Engineering, Harvard University, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Wyss Institute for Biologically Inspired Engineering, Harvard University, Cambridge, MA, USA","institution_ids":["https://openalex.org/I136199984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087628708","display_name":"Zhenglong Sun","orcid":"https://orcid.org/0000-0002-8135-1659"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Zhenglong Sun","raw_affiliation_strings":["School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5026351618","display_name":"Soo Jay Phee","orcid":"https://orcid.org/0000-0002-9709-5848"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Soo Jay Phee","raw_affiliation_strings":["School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5087628708"],"corresponding_institution_ids":["https://openalex.org/I172675005"],"apc_list":null,"apc_paid":null,"fwci":0.8203,"has_fulltext":true,"cited_by_count":44,"citation_normalized_percentile":{"value":0.74981505,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"31","issue":"7","first_page":"1131","last_page":"1142"},"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/T10653","display_name":"Robot Manipulation and Learning","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/T10923","display_name":"Force Microscopy Techniques and Applications","score":0.9929999709129333,"subfield":{"id":"https://openalex.org/subfields/3107","display_name":"Atomic and Molecular Physics, and Optics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/tendon","display_name":"Tendon","score":0.7277015447616577},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.6076945066452026},{"id":"https://openalex.org/keywords/tension","display_name":"Tension (geology)","score":0.5192642211914062},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4962473511695862},{"id":"https://openalex.org/keywords/transmission","display_name":"Transmission (telecommunications)","score":0.48594343662261963},{"id":"https://openalex.org/keywords/power-transmission","display_name":"Power transmission","score":0.47818878293037415},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4488520920276642},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4170154929161072},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4052852988243103},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3462940752506256},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.33193978667259216},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3310090899467468},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.32227641344070435},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2476809322834015},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17117509245872498},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13668569922447205},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.11672449111938477},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.0906367301940918},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.08665734529495239}],"concepts":[{"id":"https://openalex.org/C2780105995","wikidata":"https://www.wikidata.org/wiki/Q232358","display_name":"Tendon","level":2,"score":0.7277015447616577},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.6076945066452026},{"id":"https://openalex.org/C186068551","wikidata":"https://www.wikidata.org/wiki/Q13255585","display_name":"Tension (geology)","level":3,"score":0.5192642211914062},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4962473511695862},{"id":"https://openalex.org/C761482","wikidata":"https://www.wikidata.org/wiki/Q118093","display_name":"Transmission (telecommunications)","level":2,"score":0.48594343662261963},{"id":"https://openalex.org/C92018576","wikidata":"https://www.wikidata.org/wiki/Q3242194","display_name":"Power transmission","level":3,"score":0.47818878293037415},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4488520920276642},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4170154929161072},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4052852988243103},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3462940752506256},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.33193978667259216},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3310090899467468},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.32227641344070435},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2476809322834015},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17117509245872498},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13668569922447205},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.11672449111938477},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0906367301940918},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.08665734529495239},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C179254644","wikidata":"https://www.wikidata.org/wiki/Q13222844","display_name":"Moment (physics)","level":2,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1017/s0263574713000386","is_oa":true,"landing_page_url":"https://doi.org/10.1017/s0263574713000386","pdf_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/BBEA07F9ECE16BD3CCA0FA4E637DDB50/S0263574713000386a.pdf/div-class-title-modeling-tendon-sheath-mechanism-with-flexible-configurations-for-robot-control-div.pdf","source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},{"id":"pmh:oai:dr.ntu.edu.sg:10356/101413","is_oa":false,"landing_page_url":"https://hdl.handle.net/10356/101413","pdf_url":null,"source":{"id":"https://openalex.org/S4306402609","display_name":"DR-NTU (Nanyang Technological University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I172675005","host_organization_name":"Nanyang Technological University","host_organization_lineage":["https://openalex.org/I172675005"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Journal Article"},{"id":"pmh:oai:hub.hku.hk:10722/199936","is_oa":false,"landing_page_url":"http://hdl.handle.net/10722/199936","pdf_url":null,"source":{"id":"https://openalex.org/S4377196271","display_name":"The HKU Scholars Hub (University of Hong Kong)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I889458895","host_organization_name":"University of Hong Kong","host_organization_lineage":["https://openalex.org/I889458895"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"}],"best_oa_location":{"id":"doi:10.1017/s0263574713000386","is_oa":true,"landing_page_url":"https://doi.org/10.1017/s0263574713000386","pdf_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/BBEA07F9ECE16BD3CCA0FA4E637DDB50/S0263574713000386a.pdf/div-class-title-modeling-tendon-sheath-mechanism-with-flexible-configurations-for-robot-control-div.pdf","source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3527768631","display_name":null,"funder_award_id":"NMRC/TCR/001-NUS/2007","funder_id":"https://openalex.org/F4320334737","funder_display_name":"National Medical Research Council"}],"funders":[{"id":"https://openalex.org/F4320334626","display_name":"Medical Research Council","ror":"https://ror.org/03x94j517"},{"id":"https://openalex.org/F4320334737","display_name":"National Medical Research Council","ror":"https://ror.org/04x3cxs03"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2171067921.pdf","grobid_xml":"https://content.openalex.org/works/W2171067921.grobid-xml"},"referenced_works_count":30,"referenced_works":["https://openalex.org/W560013353","https://openalex.org/W1972920214","https://openalex.org/W1999306089","https://openalex.org/W2020275273","https://openalex.org/W2036422881","https://openalex.org/W2037178089","https://openalex.org/W2096799313","https://openalex.org/W2098317065","https://openalex.org/W2100058787","https://openalex.org/W2101667962","https://openalex.org/W2109001722","https://openalex.org/W2125553539","https://openalex.org/W2126157233","https://openalex.org/W2126182407","https://openalex.org/W2128242870","https://openalex.org/W2134162555","https://openalex.org/W2134555091","https://openalex.org/W2137409433","https://openalex.org/W2142711188","https://openalex.org/W2149696528","https://openalex.org/W2151420688","https://openalex.org/W2154578892","https://openalex.org/W2161129832","https://openalex.org/W2171929520","https://openalex.org/W2407564786","https://openalex.org/W2979982785","https://openalex.org/W4239005910","https://openalex.org/W4251846097","https://openalex.org/W4400518895","https://openalex.org/W6659219239"],"related_works":["https://openalex.org/W2045352797","https://openalex.org/W2280685604","https://openalex.org/W2106268159","https://openalex.org/W2036845782","https://openalex.org/W4200326729","https://openalex.org/W2770783682","https://openalex.org/W202540107","https://openalex.org/W4200089920","https://openalex.org/W2146614915","https://openalex.org/W2387124810"],"abstract_inverted_index":{"SUMMARY":[0],"Surgical":[1],"and":[2,28,36,52,75,107,130,134,175],"search/rescue":[3],"robots":[4],"often":[5],"work":[6],"in":[7],"environments":[8],"with":[9,157],"very":[10,58],"strict":[11],"spatial":[12],"constraints.":[13],"The":[14,137],"tendon-sheath":[15,92,109,171],"mechanism":[16,93],"is":[17,73,86,145,154],"a":[18,87,180],"promising":[19],"candidate":[20],"for":[21,60,90,105,119],"driving":[22],"such":[23],"systems,":[24],"allowing":[25],"power":[26],"sources":[27],"actuation":[29],"motors":[30],"placed":[31],"outside":[32],"to":[33,38,78,94,132,142,169],"transmit":[34],"force":[35,54],"energy":[37],"the":[39,42,46,64,67,82,91,102,111,158,163],"robot":[40],"at":[41],"distal":[43],"end":[44],"through":[45],"constrained":[47],"environment.":[48],"Having":[49],"both":[50],"compactness":[51],"high":[53],"capability":[55],"makes":[56],"it":[57],"attractive":[59],"manipulation":[61],"devices.":[62],"On":[63],"other":[65],"hand,":[66],"friction":[68,103,143],"attenuation":[69,144],"of":[70,139],"tendon":[71,140,152],"tension":[72,150],"nonlinear":[74],"configuration-dependent":[76],"due":[77],"tendon/sheath":[79],"interactions":[80],"throughout":[81],"transmission":[83],"path.":[84],"This":[85],"major":[88],"obstacle":[89],"be":[95],"widely":[96],"adopted.":[97],"Here,":[98],"we":[99],"focus":[100],"on":[101,124,149,179],"analysis":[104],"flexible":[106,133],"time-varying":[108,135],"configurations:":[110],"most":[112],"challenging":[113],"but":[114],"yet":[115],"commonly":[116],"encountered":[117],"case":[118],"real-world":[120],"applications.":[121],"Existing":[122],"results":[123,166],"fixed-path":[125],"configurations":[126],"are":[127,167,177],"reviewed,":[128],"revisited,":[129],"extended":[131,168],"cases.":[136],"effect":[138,160],"length":[141,159],"modeled.":[146],"While":[147],"focusing":[148],"transmission,":[151],"elongation":[153],"also":[155],"discussed":[156],"applied.":[161],"In":[162],"end,":[164],"two-dimensional":[165],"three-dimensional":[170],"configurations.":[172],"All":[173],"propositions":[174],"theorems":[176],"validated":[178],"dedicated":[181],"experimental":[182],"platform.":[183]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2013,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}