{"id":"https://openalex.org/W2754663405","doi":"https://doi.org/10.1080/01691864.2017.1372212","title":"Sensorless point-to-point control for a musculoskeletal tendon-driven manipulator: analysis of a two-DOF planar system with six tendons","display_name":"Sensorless point-to-point control for a musculoskeletal tendon-driven manipulator: analysis of a two-DOF planar system with six tendons","publication_year":2017,"publication_date":"2017-08-18","ids":{"openalex":"https://openalex.org/W2754663405","doi":"https://doi.org/10.1080/01691864.2017.1372212","mag":"2754663405"},"language":"en","primary_location":{"id":"doi:10.1080/01691864.2017.1372212","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2017.1372212","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","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/A5029617360","display_name":"Hitoshi Kino","orcid":"https://orcid.org/0000-0002-9194-4925"},"institutions":[{"id":"https://openalex.org/I100722782","display_name":"Fukuoka Institute of Technology","ror":"https://ror.org/00bmxak18","country_code":"JP","type":"education","lineage":["https://openalex.org/I100722782"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"H. Kino","raw_affiliation_strings":["Fukuoka Institute of Technology, Fukuoka, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fukuoka Institute of Technology, Fukuoka, Japan","institution_ids":["https://openalex.org/I100722782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110010949","display_name":"Hiroshi Ochi","orcid":null},"institutions":[{"id":"https://openalex.org/I75522678","display_name":"Sanyo-Onoda City University","ror":"https://ror.org/01xfcjr43","country_code":"JP","type":"education","lineage":["https://openalex.org/I75522678"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"H. Ochi","raw_affiliation_strings":["Tokyo University of Science, Yamaguchi, Sanyo-Onoda, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tokyo University of Science, Yamaguchi, Sanyo-Onoda, Japan","institution_ids":["https://openalex.org/I75522678"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046795283","display_name":"Yuki Matsutani","orcid":null},"institutions":[{"id":"https://openalex.org/I3018098410","display_name":"National Institute of Technology, Kumamoto College","ror":"https://ror.org/01c697313","country_code":"JP","type":"education","lineage":["https://openalex.org/I3018098410","https://openalex.org/I4210120810"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Y. Matsutani","raw_affiliation_strings":["National Institute of Technology, Kumamoto College, Yatsushiro, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Institute of Technology, Kumamoto College, Yatsushiro, Japan","institution_ids":["https://openalex.org/I3018098410"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010975613","display_name":"Kenji Tahara","orcid":"https://orcid.org/0000-0003-4457-7867"},"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":"K. Tahara","raw_affiliation_strings":["Kyushu University, Fukuoka, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kyushu University, Fukuoka, Japan","institution_ids":["https://openalex.org/I135598925"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5029617360"],"corresponding_institution_ids":["https://openalex.org/I100722782"],"apc_list":null,"apc_paid":null,"fwci":0.7644,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.70148161,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"31","issue":"16","first_page":"851","last_page":"864"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"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"}},"topics":[{"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/T10982","display_name":"Motor Control and Adaptation","score":0.9945999979972839,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9940999746322632,"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/tendon","display_name":"Tendon","score":0.7087507247924805},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6812676191329956},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.6645209789276123},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.6013713479042053},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.560326874256134},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.538775622844696},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5021870136260986},{"id":"https://openalex.org/keywords/tension","display_name":"Tension (geology)","score":0.46853891015052795},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.39211177825927734},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3509623408317566},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.27968573570251465},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.25649648904800415},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.19601213932037354},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.18113398551940918},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.158515065908432},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.1258668303489685},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.10027816891670227},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.09087607264518738}],"concepts":[{"id":"https://openalex.org/C2780105995","wikidata":"https://www.wikidata.org/wiki/Q232358","display_name":"Tendon","level":2,"score":0.7087507247924805},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6812676191329956},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.6645209789276123},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.6013713479042053},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.560326874256134},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.538775622844696},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5021870136260986},{"id":"https://openalex.org/C186068551","wikidata":"https://www.wikidata.org/wiki/Q13255585","display_name":"Tension (geology)","level":3,"score":0.46853891015052795},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.39211177825927734},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3509623408317566},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.27968573570251465},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.25649648904800415},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.19601213932037354},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.18113398551940918},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.158515065908432},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.1258668303489685},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.10027816891670227},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.09087607264518738},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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},{"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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1080/01691864.2017.1372212","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2017.1372212","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2326512808","display_name":null,"funder_award_id":"26330303","funder_id":"https://openalex.org/F4320320912","funder_display_name":"Ministry of Education, Culture, Sports, Science and Technology"},{"id":"https://openalex.org/G3224827317","display_name":null,"funder_award_id":"Grant-in-Aid for Scientific Research (C), 26330303","funder_id":"https://openalex.org/F4320320912","funder_display_name":"Ministry of Education, Culture, Sports, Science and Technology"}],"funders":[{"id":"https://openalex.org/F4320320912","display_name":"Ministry of Education, Culture, Sports, Science and Technology","ror":"https://ror.org/048rj2z13"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W59013988","https://openalex.org/W89510016","https://openalex.org/W1892385946","https://openalex.org/W1965386059","https://openalex.org/W1981297107","https://openalex.org/W1981815942","https://openalex.org/W1986888027","https://openalex.org/W1988003703","https://openalex.org/W2005832027","https://openalex.org/W2027645645","https://openalex.org/W2036761565","https://openalex.org/W2050850477","https://openalex.org/W2057879210","https://openalex.org/W2079830066","https://openalex.org/W2100756547","https://openalex.org/W2120841149","https://openalex.org/W2129279248","https://openalex.org/W2131510442","https://openalex.org/W2138950221","https://openalex.org/W2143005249","https://openalex.org/W4233851972","https://openalex.org/W4236573885"],"related_works":["https://openalex.org/W2010009304","https://openalex.org/W3021694725","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/W1996851061"],"abstract_inverted_index":{"Tendon-driven":[0],"robot":[1],"utilizes":[2],"only":[3],"tensile":[4],"force":[5,24,30],"(i.e.":[6],"tension)":[7],"for":[8,31,72,95],"motion":[9,55],"generation.":[10],"Therefore,":[11],"a":[12,34,80,113],"redundant":[13],"actuation":[14],"is":[15,57],"characteristically":[16],"necessary,":[17],"and":[18,124],"then":[19],"it":[20],"yields":[21],"the":[22,28,37,42,54,61,67,85,92,96,109,117],"internal":[23,29],"among":[25],"tendons.":[26],"Given":[27],"balance":[32],"at":[33,98],"desired":[35,99],"posture,":[36],"musculoskeletal":[38,87],"tendon-driven":[39],"manipulator":[40],"has":[41],"inherent":[43],"possibility":[44],"of":[45,63,70,79,108],"point-to-point":[46],"position":[47,75],"control":[48,76],"without":[49],"any":[50],"sensory":[51],"feedback.":[52],"However,":[53],"convergence":[56,71,97],"strongly":[58],"governed":[59],"by":[60,77,104],"arrangement":[62],"tendons.This":[64],"study":[65],"analyzes":[66],"mathematical":[68],"conditions":[69,94,119],"this":[73],"sensorless":[74],"use":[78],"Lyapunov":[81],"function.":[82],"Subsequently,":[83],"targeting":[84],"two-link":[86],"structure":[88],"with":[89],"six":[90],"tendons,":[91],"sufficient":[93],"posture":[100],"are":[101,120],"further":[102],"defined":[103],"employing":[105],"an":[106],"approximation":[107],"tendon-length":[110],"based":[111],"on":[112],"Taylor":[114],"expansion.":[115],"Finally,":[116],"convergent":[118],"verified":[121],"through":[122],"simulation":[123],"validated":[125],"via":[126],"experimental":[127],"results.":[128]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
