{"id":"https://openalex.org/W3037942178","doi":"https://doi.org/10.1080/01691864.2020.1778522","title":"Development of 3-DOF wrist mechanism for electro-hydrostatically driven robot arm","display_name":"Development of 3-DOF wrist mechanism for electro-hydrostatically driven robot arm","publication_year":2020,"publication_date":"2020-06-25","ids":{"openalex":"https://openalex.org/W3037942178","doi":"https://doi.org/10.1080/01691864.2020.1778522","mag":"3037942178"},"language":"en","primary_location":{"id":"doi:10.1080/01691864.2020.1778522","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2020.1778522","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/A5044361148","display_name":"Ryoya Suzuki","orcid":"https://orcid.org/0000-0002-3388-5197"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Ryoya Suzuki","raw_affiliation_strings":["Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo, Bunkyo-Ku, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0002-3388-5197","affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo, Bunkyo-Ku, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072089139","display_name":"Mitsuo Komagata","orcid":"https://orcid.org/0000-0001-8884-2023"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Mitsuo Komagata","raw_affiliation_strings":["Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo, Bunkyo-Ku, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0001-8884-2023","affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo, Bunkyo-Ku, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034562879","display_name":"Tianyi Ko","orcid":"https://orcid.org/0000-0002-2576-9161"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tianyi Ko","raw_affiliation_strings":["Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo, Bunkyo-Ku, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0002-2576-9161","affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo, Bunkyo-Ku, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045371996","display_name":"Kazuya Murotani","orcid":null},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kazuya Murotani","raw_affiliation_strings":["Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo, Bunkyo-Ku, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo, Bunkyo-Ku, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064981052","display_name":"Hiroshi Kaminaga","orcid":"https://orcid.org/0000-0002-8288-7973"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hiroshi Kaminaga","raw_affiliation_strings":["National Institute of Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan"],"raw_orcid":"https://orcid.org/0000-0002-8288-7973","affiliations":[{"raw_affiliation_string":"National Institute of Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013144393","display_name":"Mamoru Tatano","orcid":null},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Mamoru Tatano","raw_affiliation_strings":["Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo, Bunkyo-Ku, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo, Bunkyo-Ku, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035701118","display_name":"Ko Yamamoto","orcid":"https://orcid.org/0000-0002-9558-3880"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ko Yamamoto","raw_affiliation_strings":["Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo, Bunkyo-Ku, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0002-9558-3880","affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo, Bunkyo-Ku, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040633710","display_name":"Yoshihiko Nakamura","orcid":"https://orcid.org/0000-0001-7162-5102"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yoshihiko Nakamura","raw_affiliation_strings":["Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo, Bunkyo-Ku, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0001-7162-5102","affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo, Bunkyo-Ku, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5044361148","https://openalex.org/A5072089139"],"corresponding_institution_ids":["https://openalex.org/I74801974"],"apc_list":null,"apc_paid":null,"fwci":0.8459,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.67763323,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":93,"max":97},"biblio":{"volume":"34","issue":"14","first_page":"958","last_page":"973"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9997000098228455,"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"}},"topics":[{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9997000098228455,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9965999722480774,"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":0.9965000152587891,"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/mechanism","display_name":"Mechanism (biology)","score":0.7670710682868958},{"id":"https://openalex.org/keywords/wrist","display_name":"Wrist","score":0.5998704433441162},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5917379856109619},{"id":"https://openalex.org/keywords/leakage","display_name":"Leakage (economics)","score":0.5073508620262146},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5009570121765137},{"id":"https://openalex.org/keywords/casing","display_name":"Casing","score":0.49163633584976196},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.48045510053634644},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4506514072418213},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4215613603591919},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.32435303926467896},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.31831997632980347},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.187480628490448},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12612488865852356},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.07394060492515564}],"concepts":[{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.7670710682868958},{"id":"https://openalex.org/C2778216619","wikidata":"https://www.wikidata.org/wiki/Q185706","display_name":"Wrist","level":2,"score":0.5998704433441162},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5917379856109619},{"id":"https://openalex.org/C2777042071","wikidata":"https://www.wikidata.org/wiki/Q6509304","display_name":"Leakage (economics)","level":2,"score":0.5073508620262146},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5009570121765137},{"id":"https://openalex.org/C30399818","wikidata":"https://www.wikidata.org/wiki/Q5048830","display_name":"Casing","level":2,"score":0.49163633584976196},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.48045510053634644},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4506514072418213},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4215613603591919},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32435303926467896},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.31831997632980347},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.187480628490448},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12612488865852356},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.07394060492515564},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.0},{"id":"https://openalex.org/C139719470","wikidata":"https://www.wikidata.org/wiki/Q39680","display_name":"Macroeconomics","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1080/01691864.2020.1778522","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2020.1778522","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":[],"funders":[{"id":"https://openalex.org/F4320322832","display_name":"University of Tokyo","ror":"https://ror.org/057zh3y96"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W2066202893","https://openalex.org/W2122827816","https://openalex.org/W2124641719","https://openalex.org/W2137165191","https://openalex.org/W2159746877","https://openalex.org/W2214645594","https://openalex.org/W2329360430","https://openalex.org/W2415044741","https://openalex.org/W2602427680","https://openalex.org/W2903939895","https://openalex.org/W2911663758","https://openalex.org/W2914366251","https://openalex.org/W2950195592"],"related_works":["https://openalex.org/W2345558179","https://openalex.org/W3146019719","https://openalex.org/W2770156639","https://openalex.org/W2363582280","https://openalex.org/W2351617165","https://openalex.org/W2068303904","https://openalex.org/W2363738620","https://openalex.org/W2366603889","https://openalex.org/W4385888329","https://openalex.org/W2349848597"],"abstract_inverted_index":{"Electro-hydrostatic":[0],"actuator":[1],"(EHA)":[2],"has":[3,27,120],"backdrivability":[4],"and":[5,22,55,87,139,150],"is":[6,97,107,143],"suitable":[7],"for":[8,68,154],"a":[9,33,56,64,69,136,140,155],"robot":[10],"system":[11],"that":[12,99,112],"cooperates":[13],"with":[14],"human.":[15],"However,":[16],"its":[17],"design":[18],"methodology":[19],"to":[20,23,75,111],"miniaturize":[21],"generate":[24],"high":[25],"pressure":[26],"not":[28],"been":[29],"established.":[30],"We":[31,62,159],"develop":[32],"robotic":[34],"arm,":[35],"all":[36],"joints":[37,149],"of":[38,49,84,103,113,123,126,164],"which":[39],"are":[40,152],"actuated":[41],"by":[42,92],"EHAs.":[43],"This":[44],"paper":[45],"reports":[46],"the":[47,50,60,82,85,89,100,104,114,161,165],"development":[48],"vane":[51,66,128,141],"motor":[52,67,142],"type":[53],"EHA":[54,86,106],"wrist":[57,118,157,167],"mechanism":[58,119,168],"using":[59,93,145],"EHA.":[61],"employ":[63],"single":[65],"wide":[70],"motion":[71],"range.":[72],"In":[73],"order":[74],"suppress":[76],"internal":[77,101],"leakage,":[78],"we":[79],"carefully":[80],"set":[81],"clearance":[83],"made":[88],"rigid":[90],"casing":[91],"ceramics":[94],"disks.":[95],"It":[96],"confirmed":[98],"leakage":[102],"new":[105],"significantly":[108],"reduced":[109],"compared":[110],"previous":[115],"model.":[116],"The":[117,132],"three":[121,127],"degrees":[122],"freedom,":[124],"consisting":[125],"motors":[129],"in":[130],"series.":[131],"flow":[133],"path":[134],"between":[135],"hydraulic":[137],"pump":[138],"designed":[144],"metal":[146],"pipings,":[147],"swivel":[148],"manifolds":[151],"presented":[153],"compact":[156],"mechanism.":[158],"validated":[160],"fundamental":[162],"performance":[163],"developed":[166],"through":[169],"experiments.":[170]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":2}],"updated_date":"2026-07-17T09:13:05.818461","created_date":"2025-10-10T00:00:00"}
