{"id":"https://openalex.org/W4319985432","doi":"https://doi.org/10.1017/s026357472300005x","title":"Design of motor cable artificial muscle (MC-AM) with tendon sheath\u2013pulley system (TSPS) for musculoskeletal robot","display_name":"Design of motor cable artificial muscle (MC-AM) with tendon sheath\u2013pulley system (TSPS) for musculoskeletal robot","publication_year":2023,"publication_date":"2023-02-10","ids":{"openalex":"https://openalex.org/W4319985432","doi":"https://doi.org/10.1017/s026357472300005x"},"language":"en","primary_location":{"id":"doi:10.1017/s026357472300005x","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1017/s026357472300005x","pdf_url":null,"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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5063081691","display_name":"Jianbo Yuan","orcid":"https://orcid.org/0000-0002-4118-1296"},"institutions":[{"id":"https://openalex.org/I92403157","display_name":"University of Science and Technology Beijing","ror":"https://ror.org/02egmk993","country_code":"CN","type":"education","lineage":["https://openalex.org/I92403157"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jianbo Yuan","raw_affiliation_strings":["School of Mechanical Engineering, University of Science and Technology Beijing, Beijing 100083, China"],"raw_orcid":"https://orcid.org/0000-0002-4118-1296","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, University of Science and Technology Beijing, Beijing 100083, China","institution_ids":["https://openalex.org/I92403157"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058254401","display_name":"Yerui Fan","orcid":"https://orcid.org/0000-0003-2868-6131"},"institutions":[{"id":"https://openalex.org/I92403157","display_name":"University of Science and Technology Beijing","ror":"https://ror.org/02egmk993","country_code":"CN","type":"education","lineage":["https://openalex.org/I92403157"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yerui Fan","raw_affiliation_strings":["School of Mechanical Engineering, University of Science and Technology Beijing, Beijing 100083, China"],"raw_orcid":"https://orcid.org/0000-0003-2868-6131","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, University of Science and Technology Beijing, Beijing 100083, China","institution_ids":["https://openalex.org/I92403157"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024339125","display_name":"Yaxiong Wu","orcid":"https://orcid.org/0000-0001-5340-1922"},"institutions":[{"id":"https://openalex.org/I92403157","display_name":"University of Science and Technology Beijing","ror":"https://ror.org/02egmk993","country_code":"CN","type":"education","lineage":["https://openalex.org/I92403157"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yaxiong Wu","raw_affiliation_strings":["School of Mechanical Engineering, University of Science and Technology Beijing, Beijing 100083, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, University of Science and Technology Beijing, Beijing 100083, China","institution_ids":["https://openalex.org/I92403157"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5063081691"],"corresponding_institution_ids":["https://openalex.org/I92403157"],"apc_list":null,"apc_paid":null,"fwci":0.1043,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.36096809,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":"41","issue":"5","first_page":"1634","last_page":"1650"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9991999864578247,"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9991999864578247,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9984999895095825,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9984999895095825,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/pulley","display_name":"Pulley","score":0.9182889461517334},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.6084575057029724},{"id":"https://openalex.org/keywords/tension","display_name":"Tension (geology)","score":0.5514102578163147},{"id":"https://openalex.org/keywords/tendon","display_name":"Tendon","score":0.5442256927490234},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5414066910743713},{"id":"https://openalex.org/keywords/artificial-muscle","display_name":"Artificial muscle","score":0.533004641532898},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.5159860253334045},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4555235803127289},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.44808733463287354},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4412572681903839},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4360595941543579},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.42441830039024353},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.34095072746276855},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.28748154640197754},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25117331743240356},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.2337396740913391},{"id":"https://openalex.org/keywords/compression","display_name":"Compression (physics)","score":0.22424566745758057},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.18572396039962769},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.1754312813282013},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15719762444496155},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1532594859600067},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.07407736778259277}],"concepts":[{"id":"https://openalex.org/C171937826","wikidata":"https://www.wikidata.org/wiki/Q48378","display_name":"Pulley","level":2,"score":0.9182889461517334},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.6084575057029724},{"id":"https://openalex.org/C186068551","wikidata":"https://www.wikidata.org/wiki/Q13255585","display_name":"Tension (geology)","level":3,"score":0.5514102578163147},{"id":"https://openalex.org/C2780105995","wikidata":"https://www.wikidata.org/wiki/Q232358","display_name":"Tendon","level":2,"score":0.5442256927490234},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5414066910743713},{"id":"https://openalex.org/C196628372","wikidata":"https://www.wikidata.org/wiki/Q4801090","display_name":"Artificial muscle","level":3,"score":0.533004641532898},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.5159860253334045},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4555235803127289},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.44808733463287354},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4412572681903839},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4360595941543579},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.42441830039024353},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.34095072746276855},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.28748154640197754},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25117331743240356},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.2337396740913391},{"id":"https://openalex.org/C180016635","wikidata":"https://www.wikidata.org/wiki/Q2712821","display_name":"Compression (physics)","level":2,"score":0.22424566745758057},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.18572396039962769},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.1754312813282013},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15719762444496155},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1532594859600067},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.07407736778259277},{"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"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/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s026357472300005x","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1017/s026357472300005x","pdf_url":null,"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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W1964806035","https://openalex.org/W1980753202","https://openalex.org/W1988273910","https://openalex.org/W2011182951","https://openalex.org/W2025501099","https://openalex.org/W2114069554","https://openalex.org/W2169508341","https://openalex.org/W2171067921","https://openalex.org/W2326414650","https://openalex.org/W2465949153","https://openalex.org/W2611367167","https://openalex.org/W2756888876","https://openalex.org/W2769501833","https://openalex.org/W2777101122","https://openalex.org/W2780143578","https://openalex.org/W2781516556","https://openalex.org/W2787504052","https://openalex.org/W2788331089","https://openalex.org/W2807644697","https://openalex.org/W2869878434","https://openalex.org/W2905412785","https://openalex.org/W2912957901","https://openalex.org/W2958452288","https://openalex.org/W2960914149","https://openalex.org/W2969346182","https://openalex.org/W2972296478","https://openalex.org/W2979830450","https://openalex.org/W2981193694","https://openalex.org/W2981331117","https://openalex.org/W2983424251","https://openalex.org/W2998333608","https://openalex.org/W3014307317","https://openalex.org/W3045590520","https://openalex.org/W3127172103","https://openalex.org/W3157610864","https://openalex.org/W3196269810","https://openalex.org/W3200540310","https://openalex.org/W4210991785"],"related_works":["https://openalex.org/W2722606392","https://openalex.org/W2389891446","https://openalex.org/W2051081090","https://openalex.org/W2027283708","https://openalex.org/W1480393883","https://openalex.org/W2369431604","https://openalex.org/W2155887287","https://openalex.org/W2386818814","https://openalex.org/W2584009865","https://openalex.org/W627732446"],"abstract_inverted_index":{"Abstract":[0],"In":[1,75],"an":[2,26],"unstructured":[3],"environment,":[4],"the":[5,29,59,78,119,122,129,137,146,152,160,175,225],"arm":[6,27,140],"can":[7,95,228],"perform":[8],"complicated":[9],"tasks":[10],"with":[11],"rapidity,":[12],"flexibility,":[13],"and":[14,66,89,99,128,133,159,177,184,193,222,247],"robustness.":[15],"It":[16,227],"is":[17,39,70,106,115,142,205],"difficult":[18],"to":[19,25,51,58,117,144,224,232],"configure":[20],"multiple":[21],"artificial":[22,80,87],"muscles":[23,179],"similar":[24,220],"in":[28,47,103],"compact":[30,49],"space":[31,50],"of":[32,126,148,154,174,190,202,236],"a":[33,48,215],"robotic":[34],"arm.":[35,60,226],"When":[36],"muscle":[37,81,88,101,199],"tension":[38,102,125,132,180],"transferred,":[40],"mechanisms":[41],"like":[42],"tendon-sheath/tendon-pulley":[43],"may":[44,212],"be":[45,96,230],"installed":[46,97],"develop":[52],"musculoskeletal":[53,139,216],"robots":[54],"that":[55,94,171,218],"are":[56,166,181],"closer":[57],"However,":[61],"handling":[62],"variable":[63],"frictional":[64],"nonlinearity":[65],"elastic":[67],"cable":[68,86,134],"deformation":[69],"necessary":[71],"for":[72],"transmission":[73],"stability.":[74],"this":[76],"study,":[77],"modular":[79],"system":[82,92],"(MAMS),":[83],"including":[84],"motor":[85],"tendon":[90],"sheath\u2013pulley":[91],"(TSPS),":[93],"remotely":[98],"transmit":[100],"narrow":[104],"paths,":[105],"designed.":[107],"The":[108,168,197,209],"feed-forward":[109],"multi-layer":[110],"neural":[111],"network":[112],"(FF-MNN)":[113],"approach":[114],"utilized":[116,231],"discuss":[118],"relationship":[120],"between":[121],"measurable":[123],"input":[124],"TSPS":[127],"unmeasurable":[130],"output":[131],"elongation.":[135],"Subsequently,":[136],"lightweight":[138],"(LM-Arm)":[141],"built":[143],"verify":[145],"validity":[147],"MAMS.":[149],"Through":[150],"trials,":[151],"experiments":[153],"MAMS":[155,211],"after":[156],"friction":[157],"compensating":[158],"LM-Arm\u2019s":[161],"end-point":[162],"3D":[163],"trajectory":[164,203],"tracking":[165,204],"investigated.":[167],"results":[169],"show":[170],"average":[172,198],"errors":[173],"active":[176],"passive":[178],"3.87":[182],"N":[183],"3.51":[185],"N,":[186],"respectively,":[187],"under":[188],"conditions":[189],"larger":[191],"load":[192],"higher":[194],"contraction":[195],"velocity.":[196],"length":[200],"error":[201],"0.00078":[206],"m":[207],"(0.72%).":[208],"suggested":[210],"successfully":[213],"build":[214],"robot":[217],"has":[219],"flexibility":[221],"morphology":[223],"also":[229],"power":[233],"various":[234],"pieces":[235],"machinery,":[237],"such":[238],"as":[239],"rescue":[240],"robot,":[241],"invasive":[242],"surgical":[243],"robots,":[244],"dexterous":[245],"hands,":[246],"wearable":[248],"exoskeletons.":[249]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
