{"id":"https://openalex.org/W2784141618","doi":"https://doi.org/10.1109/humanoids.2017.8246877","title":"Stiffness evaluation of a tendon-driven robot with variable joint stiffness mechanisms","display_name":"Stiffness evaluation of a tendon-driven robot with variable joint stiffness mechanisms","publication_year":2017,"publication_date":"2017-11-01","ids":{"openalex":"https://openalex.org/W2784141618","doi":"https://doi.org/10.1109/humanoids.2017.8246877","mag":"2784141618"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2017.8246877","is_oa":false,"landing_page_url":"http://doi.org/10.1109/humanoids.2017.8246877","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)","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/A5046795283","display_name":"Yuki Matsutani","orcid":null},"institutions":[{"id":"https://openalex.org/I3018098410","display_name":"National Institute of Technology, Kumamoto College","ror":"https://ror.org/01c697313","country_code":"JP","type":"education","lineage":["https://openalex.org/I3018098410","https://openalex.org/I4210120810"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yuki Matsutani","raw_affiliation_strings":["Department of Mechanical and Intelligent Systems Engineering, National Institute of Technology, Kumamoto College, 2627 Hirayamashin-Machi, Yatsushiro, Kumamoto 866-8501, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Intelligent Systems Engineering, National Institute of Technology, Kumamoto College, 2627 Hirayamashin-Machi, Yatsushiro, Kumamoto 866-8501, Japan","institution_ids":["https://openalex.org/I3018098410"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010975613","display_name":"Kenji Tahara","orcid":"https://orcid.org/0000-0003-4457-7867"},"institutions":[{"id":"https://openalex.org/I135598925","display_name":"Kyushu University","ror":"https://ror.org/00p4k0j84","country_code":"JP","type":"education","lineage":["https://openalex.org/I135598925"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kenji Tahara","raw_affiliation_strings":["Department of Mechanical Engineering, Kyushu University, 744 Moto'oka, Nishi-ku, Fukuoka 819-0395, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Kyushu University, 744 Moto'oka, Nishi-ku, Fukuoka 819-0395, Japan","institution_ids":["https://openalex.org/I135598925"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029617360","display_name":"Hitoshi Kino","orcid":"https://orcid.org/0000-0002-9194-4925"},"institutions":[{"id":"https://openalex.org/I100722782","display_name":"Fukuoka Institute of Technology","ror":"https://ror.org/00bmxak18","country_code":"JP","type":"education","lineage":["https://openalex.org/I100722782"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hitoshi Kino","raw_affiliation_strings":["Department of Intelligent Mechanical Engineering, Fukuoka Institute of Technology, 3-30-1 Wajiro-Higashi, Higashi-Ku, Fukuoka 811-0295, Japan#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Intelligent Mechanical Engineering, Fukuoka Institute of Technology, 3-30-1 Wajiro-Higashi, Higashi-Ku, Fukuoka 811-0295, Japan#TAB#","institution_ids":["https://openalex.org/I100722782"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5089877493","display_name":"Hiroaki Ochi","orcid":null},"institutions":[{"id":"https://openalex.org/I75522678","display_name":"Sanyo-Onoda City University","ror":"https://ror.org/01xfcjr43","country_code":"JP","type":"education","lineage":["https://openalex.org/I75522678"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hiroaki Ochi","raw_affiliation_strings":["Department of Mechanical Engineering, Tokyo University of Science, Yamaguchi, 1-1-1 Daigakudori, Sanyo-Onoda, Yamaguchi 756-0884, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Tokyo University of Science, Yamaguchi, 1-1-1 Daigakudori, Sanyo-Onoda, Yamaguchi 756-0884, Japan","institution_ids":["https://openalex.org/I75522678"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.19567221,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"213","last_page":"218"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9994000196456909,"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":0.9994000196456909,"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":0.9986000061035156,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9939000010490417,"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/stiffness","display_name":"Stiffness","score":0.7289341688156128},{"id":"https://openalex.org/keywords/tendon","display_name":"Tendon","score":0.6458016633987427},{"id":"https://openalex.org/keywords/joint-stiffness","display_name":"Joint stiffness","score":0.5997335314750671},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5293052196502686},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.5180311799049377},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.48188620805740356},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4515005648136139},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.3877514600753784},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2711906135082245},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1461511254310608},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.14537960290908813},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12987405061721802},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.10457700490951538},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.06228908896446228}],"concepts":[{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.7289341688156128},{"id":"https://openalex.org/C2780105995","wikidata":"https://www.wikidata.org/wiki/Q232358","display_name":"Tendon","level":2,"score":0.6458016633987427},{"id":"https://openalex.org/C2781415944","wikidata":"https://www.wikidata.org/wiki/Q559210","display_name":"Joint stiffness","level":3,"score":0.5997335314750671},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5293052196502686},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.5180311799049377},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.48188620805740356},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4515005648136139},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.3877514600753784},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2711906135082245},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1461511254310608},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.14537960290908813},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12987405061721802},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.10457700490951538},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.06228908896446228}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids.2017.8246877","is_oa":false,"landing_page_url":"http://doi.org/10.1109/humanoids.2017.8246877","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)","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":14,"referenced_works":["https://openalex.org/W1504525575","https://openalex.org/W1541925238","https://openalex.org/W2001172475","https://openalex.org/W2025023208","https://openalex.org/W2034224351","https://openalex.org/W2036761565","https://openalex.org/W2039696452","https://openalex.org/W2057879210","https://openalex.org/W2060601808","https://openalex.org/W2120841149","https://openalex.org/W2137528766","https://openalex.org/W2157683422","https://openalex.org/W2169706473","https://openalex.org/W4244462256"],"related_works":["https://openalex.org/W2083759350","https://openalex.org/W3133687580","https://openalex.org/W2021098562","https://openalex.org/W2526541772","https://openalex.org/W2950989846","https://openalex.org/W2274365341","https://openalex.org/W1566538768","https://openalex.org/W2898973675","https://openalex.org/W1897710365","https://openalex.org/W2942851934"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,35,81],"new":[4],"tendon-driven":[5,13,45,62,75],"robot":[6,14,46,63,76],"with":[7,64],"variable":[8,25,55,65],"joint":[9],"stiffness":[10,20,26,66,72,82],"mechanisms.":[11],"The":[12],"is":[15,68,77],"able":[16],"to":[17],"vary":[18],"the":[19,29,44,51,54,61,71,74],"of":[21,43,53,73],"joints":[22],"by":[23,31,79],"sliding":[24],"mechanisms":[27,67],"over":[28],"link":[30],"wire":[32],"tensions.":[33],"As":[34],"reason":[36],"for":[37],"that":[38],"structure":[39],"and":[40,70],"moment":[41],"arms":[42],"are":[47],"changed":[48],"depending":[49],"on":[50],"position":[52],"mechanism.":[56],"Thus":[57],"in":[58],"this":[59],"paper,":[60],"designed,":[69],"evaluated":[78],"using":[80],"ellipsoid.":[83]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}