{"id":"https://openalex.org/W4390481027","doi":"https://doi.org/10.1109/humanoids57100.2023.10375220","title":"Development of a Wire-Wound Muscle-Tendon Complex Drive and Its Application to a Two-Dimensional Robot Configuration","display_name":"Development of a Wire-Wound Muscle-Tendon Complex Drive and Its Application to a Two-Dimensional Robot Configuration","publication_year":2023,"publication_date":"2023-12-12","ids":{"openalex":"https://openalex.org/W4390481027","doi":"https://doi.org/10.1109/humanoids57100.2023.10375220"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids57100.2023.10375220","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/humanoids57100.2023.10375220","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE-RAS 22nd International Conference on Humanoid Robots (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/A5023717487","display_name":"Yoshimoto Ribayashi","orcid":null},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Yoshimoto Ribayashi","raw_affiliation_strings":["Graduate School of Information Science and Technology, The University of Tokyo,Department of Mechano-Informatics,Tokyo,Japan","Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, The University of Tokyo,Department of Mechano-Informatics,Tokyo,Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062309072","display_name":"Kazuhiro Miyama","orcid":null},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kazuhiro Miyama","raw_affiliation_strings":["Graduate School of Information Science and Technology, The University of Tokyo,Department of Mechano-Informatics,Tokyo,Japan","Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, The University of Tokyo,Department of Mechano-Informatics,Tokyo,Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005611021","display_name":"Akihiro Miki","orcid":"https://orcid.org/0000-0002-5850-2412"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Akihiro Miki","raw_affiliation_strings":["Graduate School of Information Science and Technology, The University of Tokyo,Department of Mechano-Informatics,Tokyo,Japan","Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, The University of Tokyo,Department of Mechano-Informatics,Tokyo,Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087094940","display_name":"Kento Kawaharazuka","orcid":"https://orcid.org/0000-0002-7464-7187"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kento Kawaharazuka","raw_affiliation_strings":["Graduate School of Information Science and Technology, The University of Tokyo,Department of Mechano-Informatics,Tokyo,Japan","Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, The University of Tokyo,Department of Mechano-Informatics,Tokyo,Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101836795","display_name":"Kei Okada","orcid":"https://orcid.org/0000-0001-6606-6692"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kei Okada","raw_affiliation_strings":["Graduate School of Information Science and Technology, The University of Tokyo,Department of Mechano-Informatics,Tokyo,Japan","Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, The University of Tokyo,Department of Mechano-Informatics,Tokyo,Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102792995","display_name":"Koji Kawasaki","orcid":"https://orcid.org/0000-0001-7807-8420"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Koji Kawasaki","raw_affiliation_strings":["SOKEN, Inc. and DENSO CORPORATION"],"affiliations":[{"raw_affiliation_string":"SOKEN, Inc. and DENSO CORPORATION","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047218430","display_name":"Masayuki Inaba","orcid":"https://orcid.org/0000-0003-1273-1567"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masayuki Inaba","raw_affiliation_strings":["Graduate School of Information Science and Technology, The University of Tokyo,Department of Mechano-Informatics,Tokyo,Japan","Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, The University of Tokyo,Department of Mechano-Informatics,Tokyo,Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5023717487"],"corresponding_institution_ids":["https://openalex.org/I74801974"],"apc_list":null,"apc_paid":null,"fwci":0.1876,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.52032608,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"7"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","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/T10879","display_name":"Robotic Locomotion and Control","score":0.9976999759674072,"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":0.9975000023841858,"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/robot","display_name":"Robot","score":0.7788665294647217},{"id":"https://openalex.org/keywords/tendon","display_name":"Tendon","score":0.7548635005950928},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5029048323631287},{"id":"https://openalex.org/keywords/abrasion","display_name":"Abrasion (mechanical)","score":0.48112526535987854},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.40260472893714905},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.37497085332870483},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.36114317178726196},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3309659957885742},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.29779452085494995},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2636732757091522},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.21724426746368408},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.07880863547325134}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7788665294647217},{"id":"https://openalex.org/C2780105995","wikidata":"https://www.wikidata.org/wiki/Q232358","display_name":"Tendon","level":2,"score":0.7548635005950928},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5029048323631287},{"id":"https://openalex.org/C118231568","wikidata":"https://www.wikidata.org/wiki/Q3819233","display_name":"Abrasion (mechanical)","level":2,"score":0.48112526535987854},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.40260472893714905},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.37497085332870483},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36114317178726196},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3309659957885742},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.29779452085494995},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2636732757091522},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.21724426746368408},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.07880863547325134}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids57100.2023.10375220","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/humanoids57100.2023.10375220","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1961564279","https://openalex.org/W1993266190","https://openalex.org/W2003177125","https://openalex.org/W2034747299","https://openalex.org/W2041385840","https://openalex.org/W2052668588","https://openalex.org/W2070662831","https://openalex.org/W2117268954","https://openalex.org/W2119796324","https://openalex.org/W2137779937","https://openalex.org/W2149542038","https://openalex.org/W2162526607","https://openalex.org/W2166389270","https://openalex.org/W2216198263","https://openalex.org/W2569517946","https://openalex.org/W2869878434","https://openalex.org/W2891125119","https://openalex.org/W2971268498","https://openalex.org/W3003170810","https://openalex.org/W4200318382","https://openalex.org/W4248056173","https://openalex.org/W4288052587"],"related_works":["https://openalex.org/W2017733316","https://openalex.org/W2732689006","https://openalex.org/W2290807717","https://openalex.org/W4300947998","https://openalex.org/W1550454689","https://openalex.org/W2248318657","https://openalex.org/W2444278887","https://openalex.org/W2387472657","https://openalex.org/W2045352797","https://openalex.org/W2366967781"],"abstract_inverted_index":{"Muscle-tendon":[0],"complexes":[1],"that":[2,25,125],"fill":[3,8],"the":[4,9,33,44,53,88,94,126,134,138],"body":[5,128],"may":[6],"also":[7,123],"gap":[10],"between":[11],"robots":[12],"and":[13,21,29,41,100,119,136],"humans.":[14,64],"Several":[15],"wire-driven":[16],"humanoids":[17],"have":[18,92],"been":[19],"developed,":[20],"their":[22],"advantage":[23],"is":[24],"they":[26],"are":[27,37],"soft":[28],"easily":[30],"adaptable":[31],"to":[32,39,61,114],"environment.":[34],"However,":[35],"wires":[36],"difficult":[38],"handle,":[40],"contact":[42,132],"with":[43,63,107,133],"environment":[45],"by":[46,72],"wire":[47,89,116],"parts":[48],"causes":[49],"malfunctions.":[50],"In":[51,65],"addition,":[52],"robot":[54,106,111,139],"should":[55],"look":[56],"more":[57],"human-like":[58],"in":[59,96,131],"order":[60],"coexist":[62],"this":[66],"study,":[67],"we":[68],"approach":[69],"these":[70],"problems":[71],"proposing":[73],"a":[74,97,102,140],"driving":[75],"method":[76],"called":[77],"wire-wound":[78],"Muscle":[79],"Tendon":[80],"Complex":[81],"(ww-MTC),":[82],"which":[83],"incorporates":[84],"muscle":[85],"expansion":[86],"into":[87],"drive.":[90],"We":[91],"realized":[93],"concept":[95],"two-dimensional":[98],"geometry":[99],"developed":[101],"1-axis":[103],"3-muscle":[104],"test":[105,110],"ww-MTC.":[108],"The":[109],"was":[112,122],"confirmed":[113,124],"suppress":[115],"loosening,":[117],"interference,":[118],"abrasion.":[120],"It":[121],"entire":[127],"can":[129],"be":[130],"environment,":[135],"giving":[137],"muscular":[141],"appearance.":[142]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2025-12-19T19:40:27.379048","created_date":"2025-10-10T00:00:00"}