{"id":"https://openalex.org/W3048142777","doi":"https://doi.org/10.1109/aim43001.2020.9158998","title":"A Spring-Embedded Planetary-Geared Parallel Elastic Actuator","display_name":"A Spring-Embedded Planetary-Geared Parallel Elastic Actuator","publication_year":2020,"publication_date":"2020-07-01","ids":{"openalex":"https://openalex.org/W3048142777","doi":"https://doi.org/10.1109/aim43001.2020.9158998","mag":"3048142777"},"language":"en","primary_location":{"id":"doi:10.1109/aim43001.2020.9158998","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim43001.2020.9158998","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":"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/A5038463793","display_name":"Ronnapee Chaichaowarat","orcid":"https://orcid.org/0000-0001-5002-7568"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Ronnapee Chaichaowarat","raw_affiliation_strings":["Department of Robotics, Tohoku University, Sendai, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Robotics, Tohoku University, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056244995","display_name":"Jun Kinugawa","orcid":null},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Jun Kinugawa","raw_affiliation_strings":["Department of Robotics, Tohoku University, Sendai, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Robotics, Tohoku University, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023333773","display_name":"Akira Seino","orcid":"https://orcid.org/0000-0002-4476-8391"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Akira Seino","raw_affiliation_strings":["Department of Robotics, Tohoku University, Sendai, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Robotics, Tohoku University, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082419118","display_name":"Kazuhiro Kosuge","orcid":"https://orcid.org/0000-0002-2060-2936"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kazuhiro Kosuge","raw_affiliation_strings":["Department of Robotics, Tohoku University, Sendai, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Robotics, Tohoku University, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5038463793"],"corresponding_institution_ids":["https://openalex.org/I201537933"],"apc_list":null,"apc_paid":null,"fwci":1.7167,"has_fulltext":false,"cited_by_count":26,"citation_normalized_percentile":{"value":0.83420252,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"952","last_page":"959"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9997000098228455,"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":0.9997000098228455,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9876999855041504,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9803000092506409,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/backlash","display_name":"Backlash","score":0.8219863176345825},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.803970456123352},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7730764150619507},{"id":"https://openalex.org/keywords/torsion-spring","display_name":"Torsion spring","score":0.653856635093689},{"id":"https://openalex.org/keywords/spring","display_name":"Spring (device)","score":0.6460089087486267},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5972051024436951},{"id":"https://openalex.org/keywords/gear-train","display_name":"Gear train","score":0.5911825895309448},{"id":"https://openalex.org/keywords/rotary-actuator","display_name":"Rotary actuator","score":0.5526976585388184},{"id":"https://openalex.org/keywords/moment-of-inertia","display_name":"Moment of inertia","score":0.5510646104812622},{"id":"https://openalex.org/keywords/drivetrain","display_name":"Drivetrain","score":0.4713042676448822},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4472985565662384},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.4468039572238922},{"id":"https://openalex.org/keywords/non-circular-gear","display_name":"Non-circular gear","score":0.4189852476119995},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.3936433792114258},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3404455780982971},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3184557557106018},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.20302987098693848},{"id":"https://openalex.org/keywords/spiral-bevel-gear","display_name":"Spiral bevel gear","score":0.1599050760269165},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.12552094459533691}],"concepts":[{"id":"https://openalex.org/C2776652708","wikidata":"https://www.wikidata.org/wiki/Q584028","display_name":"Backlash","level":2,"score":0.8219863176345825},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.803970456123352},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7730764150619507},{"id":"https://openalex.org/C57614664","wikidata":"https://www.wikidata.org/wiki/Q27037480","display_name":"Torsion spring","level":2,"score":0.653856635093689},{"id":"https://openalex.org/C2778712887","wikidata":"https://www.wikidata.org/wiki/Q102836","display_name":"Spring (device)","level":2,"score":0.6460089087486267},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5972051024436951},{"id":"https://openalex.org/C22486285","wikidata":"https://www.wikidata.org/wiki/Q2644088","display_name":"Gear train","level":3,"score":0.5911825895309448},{"id":"https://openalex.org/C110682481","wikidata":"https://www.wikidata.org/wiki/Q7370260","display_name":"Rotary actuator","level":3,"score":0.5526976585388184},{"id":"https://openalex.org/C10238366","wikidata":"https://www.wikidata.org/wiki/Q165618","display_name":"Moment of inertia","level":2,"score":0.5510646104812622},{"id":"https://openalex.org/C105637607","wikidata":"https://www.wikidata.org/wiki/Q1786258","display_name":"Drivetrain","level":3,"score":0.4713042676448822},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4472985565662384},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.4468039572238922},{"id":"https://openalex.org/C120308773","wikidata":"https://www.wikidata.org/wiki/Q7048863","display_name":"Non-circular gear","level":3,"score":0.4189852476119995},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.3936433792114258},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3404455780982971},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3184557557106018},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.20302987098693848},{"id":"https://openalex.org/C136905703","wikidata":"https://www.wikidata.org/wiki/Q1641343","display_name":"Spiral bevel gear","level":2,"score":0.1599050760269165},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.12552094459533691},{"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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"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":2,"locations":[{"id":"doi:10.1109/aim43001.2020.9158998","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim43001.2020.9158998","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"},{"id":"pmh:oai:hub.hku.hk:10722/303024","is_oa":false,"landing_page_url":"https://hub.hku.hk/handle/10722/303024","pdf_url":null,"source":{"id":"https://openalex.org/S4377196271","display_name":"The HKU Scholars Hub (University of Hong Kong)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I889458895","host_organization_name":"University of Hong Kong","host_organization_lineage":["https://openalex.org/I889458895"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference_Paper"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.9100000262260437,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":57,"referenced_works":["https://openalex.org/W1482167264","https://openalex.org/W1520492402","https://openalex.org/W1622743607","https://openalex.org/W1964064577","https://openalex.org/W1967601103","https://openalex.org/W1977278088","https://openalex.org/W1982437470","https://openalex.org/W1987722714","https://openalex.org/W2004207977","https://openalex.org/W2010310221","https://openalex.org/W2022561860","https://openalex.org/W2027862372","https://openalex.org/W2029028294","https://openalex.org/W2037223996","https://openalex.org/W2043583726","https://openalex.org/W2048383675","https://openalex.org/W2053169628","https://openalex.org/W2072859516","https://openalex.org/W2075453948","https://openalex.org/W2080592145","https://openalex.org/W2090886982","https://openalex.org/W2098682658","https://openalex.org/W2099174339","https://openalex.org/W2099745515","https://openalex.org/W2101068518","https://openalex.org/W2103872459","https://openalex.org/W2108394619","https://openalex.org/W2111253117","https://openalex.org/W2113899190","https://openalex.org/W2120386216","https://openalex.org/W2128137193","https://openalex.org/W2130046836","https://openalex.org/W2137264985","https://openalex.org/W2147809815","https://openalex.org/W2154777391","https://openalex.org/W2166699596","https://openalex.org/W2166869394","https://openalex.org/W2168843339","https://openalex.org/W2169706473","https://openalex.org/W2196572696","https://openalex.org/W2298175437","https://openalex.org/W2506430625","https://openalex.org/W2531653844","https://openalex.org/W2534974150","https://openalex.org/W2570674569","https://openalex.org/W2580294132","https://openalex.org/W2599604390","https://openalex.org/W2753594969","https://openalex.org/W2766402712","https://openalex.org/W2772175216","https://openalex.org/W2772205445","https://openalex.org/W2883315882","https://openalex.org/W2892623727","https://openalex.org/W2896469790","https://openalex.org/W2899488611","https://openalex.org/W2910383544","https://openalex.org/W6680298225"],"related_works":["https://openalex.org/W3159754203","https://openalex.org/W3122732977","https://openalex.org/W2497393517","https://openalex.org/W1969128936","https://openalex.org/W375928169","https://openalex.org/W2905144952","https://openalex.org/W82039423","https://openalex.org/W2352310120","https://openalex.org/W2086458922","https://openalex.org/W2086572944"],"abstract_inverted_index":{"Parallel":[0],"elastic":[1,5,38,164],"actuation":[2],"utilizing":[3],"an":[4,131],"spring":[6,44,94,125,149],"to":[7,23,63,74,117,151,166],"reduce":[8,174],"the":[9,46,56,60,64,68,75,84,88,93,98,111,119,124,148,152,156,163,168,175,178,182,186],"required":[10],"actuator":[11,39,89],"torque":[12,25,77,86,114,121],"is":[13,90],"one":[14],"energy-efficient":[15],"strategy":[16],"suitable":[17],"for":[18],"various":[19],"mechatronic":[20],"applications":[21],"relating":[22],"asymmetric":[24],"requirements.":[26],"This":[27,127],"paper":[28],"presents":[29],"a":[30,36,42,51,80,138,144],"novel":[31],"concentric":[32],"drivetrain":[33],"configuration":[34],"of":[35,50,87,135,155],"parallel":[37],"(PEA)":[40],"embedding":[41],"torsion":[43],"in":[45,115,141],"intermediate":[47],"gearing":[48],"stage":[49],"planetary":[52],"gear":[53,58,81,159,180],"mechanism":[54],"between":[55,177],"sun":[57,179],"and":[59,67,106,109,181],"carrier,":[61],"connected":[62],"input":[65,76,113],"shaft":[66],"external":[69],"load":[70,169],"respectively.":[71],"In":[72],"addition":[73],"amplified":[78,96],"by":[79,92,97],"ratio":[82,99],"N,":[83],"output":[85,120],"enhanced":[91],"moment":[95],"N-1.":[100],"An":[101],"alpha":[102],"prototype":[103],"was":[104],"developed":[105],"tested":[107],"with":[108,143],"without":[110],"controlled":[112],"order":[116],"evaluate":[118],"varying":[122],"against":[123],"deformation.":[126],"proposed":[128],"concept":[129],"provides":[130],"alternative":[132],"design":[133],"solution":[134],"PEA":[136],"using":[137],"low-inertia":[139],"motor":[140],"combination":[142],"low-stiffness":[145],"spring.":[146,188],"Connecting":[147],"arms":[150],"carrier":[153],"instead":[154],"fixed":[157],"ring":[158],"not":[160],"only":[161],"allows":[162],"component":[165],"support":[167],"directly":[170],"but":[171],"also":[172],"helps":[173],"backlash":[176],"planet":[183],"gears":[184],"through":[185],"loaded":[187]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
