{"id":"https://openalex.org/W3048010683","doi":"https://doi.org/10.1109/aim43001.2020.9158853","title":"Hardware-In-the-Loop-Simulation of a Planar Manipulator with an Elastic Joint","display_name":"Hardware-In-the-Loop-Simulation of a Planar Manipulator with an Elastic Joint","publication_year":2020,"publication_date":"2020-07-01","ids":{"openalex":"https://openalex.org/W3048010683","doi":"https://doi.org/10.1109/aim43001.2020.9158853","mag":"3048010683"},"language":"en","primary_location":{"id":"doi:10.1109/aim43001.2020.9158853","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim43001.2020.9158853","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/ASME 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/A5112303426","display_name":"Satoko Abiko","orcid":null},"institutions":[{"id":"https://openalex.org/I171481255","display_name":"Shibaura Institute of Technology","ror":"https://ror.org/020wjcq07","country_code":"JP","type":"education","lineage":["https://openalex.org/I171481255"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Satoko Abiko","raw_affiliation_strings":["Department of Electrical Engineering, Shibaura Institute of Technology, 3-7-5, Toyosu, Koto-ku, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Shibaura Institute of Technology, 3-7-5, Toyosu, Koto-ku, Tokyo, Japan","institution_ids":["https://openalex.org/I171481255"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101656326","display_name":"Tetsuya Kimura","orcid":"https://orcid.org/0000-0003-2061-5216"},"institutions":[{"id":"https://openalex.org/I171481255","display_name":"Shibaura Institute of Technology","ror":"https://ror.org/020wjcq07","country_code":"JP","type":"education","lineage":["https://openalex.org/I171481255"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tetsuya Kimura","raw_affiliation_strings":["Department of Electrical Engineering, Shibaura Institute of Technology, 3-7-5, Toyosu, Koto-ku, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Shibaura Institute of Technology, 3-7-5, Toyosu, Koto-ku, Tokyo, Japan","institution_ids":["https://openalex.org/I171481255"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044636304","display_name":"Yusuke Noda","orcid":"https://orcid.org/0000-0003-0401-6731"},"institutions":[{"id":"https://openalex.org/I185088104","display_name":"Tokyo City University","ror":"https://ror.org/04dt6bw53","country_code":"JP","type":"education","lineage":["https://openalex.org/I185088104"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yusuke Noda","raw_affiliation_strings":["Department of Mechanical Systems Engineering, Tokyo City University, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Systems Engineering, Tokyo City University, Tokyo, Japan","institution_ids":["https://openalex.org/I185088104"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102762650","display_name":"Teppei Tsujita","orcid":"https://orcid.org/0000-0002-5293-8522"},"institutions":[{"id":"https://openalex.org/I443798","display_name":"National Defense Academy of Japan","ror":"https://ror.org/05xszy717","country_code":"JP","type":"education","lineage":["https://openalex.org/I443798"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Teppei Tsujita","raw_affiliation_strings":["Department of Mechanical Engineering, National Defense Academy of Japan, Kanagawa, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National Defense Academy of Japan, Kanagawa, Japan","institution_ids":["https://openalex.org/I443798"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022199266","display_name":"Daisuke Sato","orcid":"https://orcid.org/0000-0002-7670-9177"},"institutions":[{"id":"https://openalex.org/I185088104","display_name":"Tokyo City University","ror":"https://ror.org/04dt6bw53","country_code":"JP","type":"education","lineage":["https://openalex.org/I185088104"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Daisuke Sato","raw_affiliation_strings":["Department of Mechanical Systems Engineering, Tokyo City University, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Systems Engineering, Tokyo City University, Tokyo, Japan","institution_ids":["https://openalex.org/I185088104"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5108521987","display_name":"Dragomir N. Nenchev","orcid":null},"institutions":[{"id":"https://openalex.org/I185088104","display_name":"Tokyo City University","ror":"https://ror.org/04dt6bw53","country_code":"JP","type":"education","lineage":["https://openalex.org/I185088104"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Dragomir N. Nenchev","raw_affiliation_strings":["Department of Mechanical Systems Engineering, Tokyo City University, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Systems Engineering, Tokyo City University, Tokyo, Japan","institution_ids":["https://openalex.org/I185088104"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.451,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.5421041,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"988","last_page":"993"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","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/T12810","display_name":"Real-time simulation and control systems","score":0.9977999925613403,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9929999709129333,"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/hardware-in-the-loop-simulation","display_name":"Hardware-in-the-loop simulation","score":0.7713474035263062},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.7159296870231628},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6592644453048706},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.6577733159065247},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6298001408576965},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.47987595200538635},{"id":"https://openalex.org/keywords/loop","display_name":"Loop (graph theory)","score":0.4797850251197815},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.44253861904144287},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4376608431339264},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.39057958126068115},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18428128957748413},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17246553301811218},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.10585606098175049},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08598580956459045},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.08005687594413757}],"concepts":[{"id":"https://openalex.org/C70587628","wikidata":"https://www.wikidata.org/wiki/Q1142371","display_name":"Hardware-in-the-loop simulation","level":2,"score":0.7713474035263062},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.7159296870231628},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6592644453048706},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.6577733159065247},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6298001408576965},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.47987595200538635},{"id":"https://openalex.org/C184670325","wikidata":"https://www.wikidata.org/wiki/Q512604","display_name":"Loop (graph theory)","level":2,"score":0.4797850251197815},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.44253861904144287},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4376608431339264},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.39057958126068115},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18428128957748413},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17246553301811218},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.10585606098175049},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08598580956459045},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.08005687594413757},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/aim43001.2020.9158853","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim43001.2020.9158853","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"}],"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/W1573978542","https://openalex.org/W2006830626","https://openalex.org/W2081595459","https://openalex.org/W2104181254","https://openalex.org/W2111898076","https://openalex.org/W2145202816","https://openalex.org/W2147399537","https://openalex.org/W2152957885","https://openalex.org/W2154874053","https://openalex.org/W2169100281","https://openalex.org/W2293507808","https://openalex.org/W2544555403","https://openalex.org/W2823393592","https://openalex.org/W2962463342","https://openalex.org/W3048346671","https://openalex.org/W6670770336"],"related_works":["https://openalex.org/W24774503","https://openalex.org/W2014821076","https://openalex.org/W1997122515","https://openalex.org/W2038930466","https://openalex.org/W2010009304","https://openalex.org/W109847499","https://openalex.org/W2086574474","https://openalex.org/W1990620319","https://openalex.org/W2014963539","https://openalex.org/W3134284539"],"abstract_inverted_index":{"This":[0,91],"paper":[1,92],"presents":[2],"a":[3,7,18,107],"Hardware-In-the-Loop-Simulation":[4],"(HILS)":[5],"for":[6],"planar":[8,109],"robot":[9,40,74,89],"with":[10,103],"an":[11,23],"elastic":[12,24],"joint.":[13],"The":[14],"HILS":[15],"consists":[16],"of":[17,37,72,79,96,106],"hardware":[19,49,59,82],"part,":[20,83],"which":[21,32],"is":[22],"joint":[25],"in":[26,51],"this":[27],"research,":[28],"and":[29,60,68],"numerical":[30,53],"simulation,":[31],"calculates":[33],"the":[34,38,52,57,70,73,77,80,86,94,97,104],"forward":[35],"dynamics":[36],"whole":[39,88],"system.":[41,90,111],"We":[42],"do":[43],"not":[44],"need":[45],"to":[46],"model":[47,54],"complex":[48],"systems":[50],"by":[55,100],"combining":[56],"real":[58,87,108],"mathematical":[61],"model.":[62],"However,":[63],"we":[64],"can":[65],"still":[66],"design":[67],"analyze":[69],"motion":[71,105],"system,":[75],"including":[76],"effect":[78],"intricate":[81],"before":[84],"developing":[85],"evaluates":[93],"validity":[95],"proposed":[98],"method":[99],"comparing":[101],"it":[102],"manipulator":[110]},"counts_by_year":[{"year":2020,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
