{"id":"https://openalex.org/W2753884105","doi":"https://doi.org/10.1109/aim.2017.8013996","title":"New insights in synthetic fiber rope elongation and its detection for ultra lightweight tendon driven series elastic robots","display_name":"New insights in synthetic fiber rope elongation and its detection for ultra lightweight tendon driven series elastic robots","publication_year":2017,"publication_date":"2017-07-01","ids":{"openalex":"https://openalex.org/W2753884105","doi":"https://doi.org/10.1109/aim.2017.8013996","mag":"2753884105"},"language":"en","primary_location":{"id":"doi:10.1109/aim.2017.8013996","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2017.8013996","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5034404524","display_name":"J\u00e9r\u00f4me Kirchhoff","orcid":"https://orcid.org/0000-0001-6866-8101"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jerome Kirchhoff","raw_affiliation_strings":["Simulation, Optimization and Robotics Group, Technische Universit\u00e4t Darmstadt, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Simulation, Optimization and Robotics Group, Technische Universit\u00e4t Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014799780","display_name":"Oskar von Stryk","orcid":"https://orcid.org/0000-0002-2790-6115"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Oskar von Stryk","raw_affiliation_strings":["Simulation, Optimization and Robotics Group, Technische Universit\u00e4t Darmstadt, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Simulation, Optimization and Robotics Group, Technische Universit\u00e4t Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I31512782"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"64","last_page":"69"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9990000128746033,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9990000128746033,"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":0.9952999949455261,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9912999868392944,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/rope","display_name":"Rope","score":0.8761883974075317},{"id":"https://openalex.org/keywords/pulley","display_name":"Pulley","score":0.8436048030853271},{"id":"https://openalex.org/keywords/tendon","display_name":"Tendon","score":0.700249433517456},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6664420366287231},{"id":"https://openalex.org/keywords/elongation","display_name":"Elongation","score":0.5187699794769287},{"id":"https://openalex.org/keywords/wire-rope","display_name":"Wire rope","score":0.49639302492141724},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4908231198787689},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.47147467732429504},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.3482811450958252},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3398573696613312},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.3094519376754761},{"id":"https://openalex.org/keywords/ultimate-tensile-strength","display_name":"Ultimate tensile strength","score":0.19614115357398987},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18308228254318237},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.15496578812599182},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09846615791320801},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.09729331731796265}],"concepts":[{"id":"https://openalex.org/C162269090","wikidata":"https://www.wikidata.org/wiki/Q1156047","display_name":"Rope","level":2,"score":0.8761883974075317},{"id":"https://openalex.org/C171937826","wikidata":"https://www.wikidata.org/wiki/Q48378","display_name":"Pulley","level":2,"score":0.8436048030853271},{"id":"https://openalex.org/C2780105995","wikidata":"https://www.wikidata.org/wiki/Q232358","display_name":"Tendon","level":2,"score":0.700249433517456},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6664420366287231},{"id":"https://openalex.org/C33947775","wikidata":"https://www.wikidata.org/wiki/Q271439","display_name":"Elongation","level":3,"score":0.5187699794769287},{"id":"https://openalex.org/C2781373598","wikidata":"https://www.wikidata.org/wiki/Q552034","display_name":"Wire rope","level":2,"score":0.49639302492141724},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4908231198787689},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.47147467732429504},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.3482811450958252},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3398573696613312},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.3094519376754761},{"id":"https://openalex.org/C112950240","wikidata":"https://www.wikidata.org/wiki/Q76005","display_name":"Ultimate tensile strength","level":2,"score":0.19614115357398987},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18308228254318237},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.15496578812599182},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09846615791320801},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.09729331731796265},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/aim.2017.8013996","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2017.8013996","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"},{"id":"pmh:oai:tubiblio.ulb.tu-darmstadt.de:109708","is_oa":false,"landing_page_url":"http://tubiblio.ulb.tu-darmstadt.de/109708/","pdf_url":null,"source":{"id":"https://openalex.org/S4377196390","display_name":"TUbilio (Technical University of Darmstadt)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I31512782","host_organization_name":"Technische Universit\u00e4t Darmstadt","host_organization_lineage":["https://openalex.org/I31512782"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Konferenzver\u00f6ffentlichung"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W105798702","https://openalex.org/W748374334","https://openalex.org/W1520726269","https://openalex.org/W1993633214","https://openalex.org/W1995090200","https://openalex.org/W2032946120","https://openalex.org/W2131380800","https://openalex.org/W2137165191","https://openalex.org/W2142242920","https://openalex.org/W2149085596","https://openalex.org/W2159746877","https://openalex.org/W2168196118","https://openalex.org/W2420520839","https://openalex.org/W2526125325","https://openalex.org/W2569881884","https://openalex.org/W6681017831"],"related_works":["https://openalex.org/W2353222691","https://openalex.org/W2022720328","https://openalex.org/W2648011351","https://openalex.org/W3022656278","https://openalex.org/W2348686186","https://openalex.org/W2954238672","https://openalex.org/W2565875598","https://openalex.org/W2699916370","https://openalex.org/W607347989","https://openalex.org/W1561243206"],"abstract_inverted_index":{"Selecting":[0],"transmission":[1],"components":[2],"for":[3,24,126,139],"tendon":[4,83,102,106,127],"driven":[5,84,103],"actuation":[6],"systems":[7],"can":[8],"be":[9,42],"challenging":[10],"because":[11],"of":[12,15,56,72,101,116,120],"the":[13,28,45,57,70,78,92,98,109,117],"variety":[14],"available":[16],"solutions.":[17],"Synthetic":[18],"fiber":[19],"ropes":[20],"have":[21],"great":[22],"potential":[23],"these":[25],"systems,":[26],"but":[27],"typically":[29],"provided":[30],"characteristics":[31],"are":[32],"not":[33],"always":[34],"suitable":[35],"to":[36,136,143],"decide":[37],"whether":[38],"a":[39,53,122],"rope":[40,62,95],"should":[41],"used":[43],"in":[44],"specific":[46],"system":[47],"or":[48],"not.":[49],"In":[50],"this":[51],"paper,":[52],"comparative":[54],"evaluation":[55],"elongation":[58,107,128],"characteristic":[59],"regarding":[60],"different":[61],"materials,":[63],"manufacturers":[64],"and":[65,112,132,142],"temperatures":[66],"is":[67,75,130],"presented.":[68],"Further,":[69],"influence":[71],"guiding":[73],"pulleys":[74],"investigated":[76],"concerning":[77],"application":[79],"at":[80],"ultra":[81],"lightweight":[82],"series":[85],"elastic":[86],"robots.":[87,104],"The":[88],"knowledge":[89],"gained":[90],"from":[91],"performed":[93],"new":[94],"analysis":[96],"supports":[97],"design":[99],"process":[100],"Since":[105],"influences":[108],"control":[110],"performance":[111],"joint":[113],"torque":[114],"estimation":[115],"regarded":[118],"class":[119],"robots,":[121],"novel":[123],"observer-based":[124],"approach":[125],"detection":[129],"presented":[131],"evaluated,":[133],"which":[134],"enables":[135],"monitor":[137],"wear":[138],"quality":[140],"assurance":[141],"avoid":[144],"failures.":[145]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":3},{"year":2018,"cited_by_count":6}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
