{"id":"https://openalex.org/W2752474214","doi":"https://doi.org/10.1109/aim.2017.8014206","title":"Torque control of a double tendon-sheath actuation mechanism in varying sheath configuration","display_name":"Torque control of a double tendon-sheath actuation mechanism in varying sheath configuration","publication_year":2017,"publication_date":"2017-07-01","ids":{"openalex":"https://openalex.org/W2752474214","doi":"https://doi.org/10.1109/aim.2017.8014206","mag":"2752474214"},"language":"en","primary_location":{"id":"doi:10.1109/aim.2017.8014206","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2017.8014206","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/A5012279196","display_name":"Yeongtae Jung","orcid":"https://orcid.org/0000-0002-6278-829X"},"institutions":[{"id":"https://openalex.org/I48566637","display_name":"Ulsan National Institute of Science and Technology","ror":"https://ror.org/017cjz748","country_code":"KR","type":"education","lineage":["https://openalex.org/I48566637"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Yeongtae Jung","raw_affiliation_strings":["Department of Mechanical Engineering, UNIST, Ulsan, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, UNIST, Ulsan, Korea","institution_ids":["https://openalex.org/I48566637"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041267142","display_name":"Joonbum Bae","orcid":"https://orcid.org/0000-0001-7030-2184"},"institutions":[{"id":"https://openalex.org/I48566637","display_name":"Ulsan National Institute of Science and Technology","ror":"https://ror.org/017cjz748","country_code":"KR","type":"education","lineage":["https://openalex.org/I48566637"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Joonbum Bae","raw_affiliation_strings":["Department of Mechanical Engineering, UNIST, Ulsan, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, UNIST, Ulsan, Korea","institution_ids":["https://openalex.org/I48566637"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I48566637"],"apc_list":null,"apc_paid":null,"fwci":1.514,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.79971743,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1352","last_page":"1356"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9980999827384949,"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":0.9980999827384949,"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":0.9979000091552734,"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":0.9937000274658203,"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/torque","display_name":"Torque","score":0.7789059281349182},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.7159915566444397},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5634319186210632},{"id":"https://openalex.org/keywords/tendon","display_name":"Tendon","score":0.5547971725463867},{"id":"https://openalex.org/keywords/tendon-sheath","display_name":"Tendon sheath","score":0.5264871120452881},{"id":"https://openalex.org/keywords/pulley","display_name":"Pulley","score":0.4564126133918762},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.44014328718185425},{"id":"https://openalex.org/keywords/transmission","display_name":"Transmission (telecommunications)","score":0.4306027889251709},{"id":"https://openalex.org/keywords/spring","display_name":"Spring (device)","score":0.43030866980552673},{"id":"https://openalex.org/keywords/feed-forward","display_name":"Feed forward","score":0.41913890838623047},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.4001462757587433},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.35940325260162354},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.34749817848205566},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2659802734851837},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.24967211484909058},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22394123673439026},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.18139785528182983},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.11645540595054626},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.09087663888931274}],"concepts":[{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.7789059281349182},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.7159915566444397},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5634319186210632},{"id":"https://openalex.org/C2780105995","wikidata":"https://www.wikidata.org/wiki/Q232358","display_name":"Tendon","level":2,"score":0.5547971725463867},{"id":"https://openalex.org/C2776873876","wikidata":"https://www.wikidata.org/wiki/Q447782","display_name":"Tendon sheath","level":3,"score":0.5264871120452881},{"id":"https://openalex.org/C171937826","wikidata":"https://www.wikidata.org/wiki/Q48378","display_name":"Pulley","level":2,"score":0.4564126133918762},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.44014328718185425},{"id":"https://openalex.org/C761482","wikidata":"https://www.wikidata.org/wiki/Q118093","display_name":"Transmission (telecommunications)","level":2,"score":0.4306027889251709},{"id":"https://openalex.org/C2778712887","wikidata":"https://www.wikidata.org/wiki/Q102836","display_name":"Spring (device)","level":2,"score":0.43030866980552673},{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.41913890838623047},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.4001462757587433},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.35940325260162354},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.34749817848205566},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2659802734851837},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.24967211484909058},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22394123673439026},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.18139785528182983},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.11645540595054626},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.09087663888931274},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/aim.2017.8014206","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2017.8014206","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:scholarworks.unist.ac.kr:201301/37285","is_oa":false,"landing_page_url":"http://ieeexplore.ieee.org/document/8014206/","pdf_url":null,"source":{"id":"https://openalex.org/S4306401118","display_name":"Scholarworks@UNIST (Ulsan National Institute of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I48566637","host_organization_name":"Ulsan National Institute of Science and Technology","host_organization_lineage":["https://openalex.org/I48566637"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"CONFERENCE"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1966780058","https://openalex.org/W1980753202","https://openalex.org/W2022514885","https://openalex.org/W2035753646","https://openalex.org/W2038426988","https://openalex.org/W2068793240","https://openalex.org/W2085029715","https://openalex.org/W2126663592","https://openalex.org/W2144061098","https://openalex.org/W2154578892","https://openalex.org/W2162394694","https://openalex.org/W2166869394","https://openalex.org/W2294251513","https://openalex.org/W2314612120","https://openalex.org/W2541779496"],"related_works":["https://openalex.org/W2027283708","https://openalex.org/W2404578850","https://openalex.org/W2473523016","https://openalex.org/W2427926221","https://openalex.org/W2770783682","https://openalex.org/W2339989640","https://openalex.org/W2393596403","https://openalex.org/W1984052302","https://openalex.org/W2365070537","https://openalex.org/W1995474153"],"abstract_inverted_index":{"Tendon-sheath":[0],"actuation":[1,38,66],"mechanism":[2,21,50,67,88],"has":[3,51],"been":[4,41,53],"researched":[5],"due":[6],"to":[7,79],"its":[8],"extremely":[9],"simple":[10],"and":[11,72],"light":[12],"cable":[13],"routing":[14,75],"structure.":[15],"However,":[16,43],"the":[17,44],"slide-based":[18],"force":[19,27],"transmission":[20],"causes":[22],"friction,":[23],"which":[24],"disturbs":[25],"precise":[26],"control.":[28,83],"To":[29],"overcome":[30],"such":[31],"disadvantage,":[32],"friction":[33],"compensation":[34],"algorithms":[35],"in":[36],"tendon-sheath":[37,49],"systems":[39],"have":[40],"studied.":[42],"torque":[45,58,82],"control":[46],"of":[47,86],"double":[48],"not":[52],"achieved":[54],"yet":[55],"without":[56],"a":[57,63],"feedback.":[59],"In":[60],"this":[61],"research,":[62],"double-tendon":[64],"sheath":[65,74],"with":[68,91],"series":[69],"elastic":[70],"elements":[71],"tight":[73],"method":[76],"is":[77,89],"introduced":[78],"achieve":[80],"feedforward":[81],"The":[84],"performance":[85],"proposed":[87],"verified":[90],"experiments.":[92]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2018,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
