{"id":"https://openalex.org/W2108544248","doi":"https://doi.org/10.1109/ichr.2008.4755934","title":"Safe joint mechanism using double slider mechanism and spring for humanoid robot arm","display_name":"Safe joint mechanism using double slider mechanism and spring for humanoid robot arm","publication_year":2008,"publication_date":"2008-01-01","ids":{"openalex":"https://openalex.org/W2108544248","doi":"https://doi.org/10.1109/ichr.2008.4755934","mag":"2108544248"},"language":"en","primary_location":{"id":"doi:10.1109/ichr.2008.4755934","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ichr.2008.4755934","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots","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/A5079671388","display_name":"Hwi-Su Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I197347611","display_name":"Korea University","ror":"https://ror.org/047dqcg40","country_code":"KR","type":"education","lineage":["https://openalex.org/I197347611"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Hwi-Su Kim","raw_affiliation_strings":["Korea University, South Korea","Korea University [Seoul]"],"affiliations":[{"raw_affiliation_string":"Korea University, South Korea","institution_ids":["https://openalex.org/I197347611"]},{"raw_affiliation_string":"Korea University [Seoul]","institution_ids":["https://openalex.org/I197347611"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046853479","display_name":"Jung-Jun Park","orcid":"https://orcid.org/0000-0002-2518-7225"},"institutions":[{"id":"https://openalex.org/I197347611","display_name":"Korea University","ror":"https://ror.org/047dqcg40","country_code":"KR","type":"education","lineage":["https://openalex.org/I197347611"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jung-Jun Park","raw_affiliation_strings":["Korea University, South Korea","Korea University [Seoul]"],"affiliations":[{"raw_affiliation_string":"Korea University, South Korea","institution_ids":["https://openalex.org/I197347611"]},{"raw_affiliation_string":"Korea University [Seoul]","institution_ids":["https://openalex.org/I197347611"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5013838439","display_name":"Jae-Bok Song","orcid":"https://orcid.org/0000-0002-5818-1938"},"institutions":[{"id":"https://openalex.org/I197347611","display_name":"Korea University","ror":"https://ror.org/047dqcg40","country_code":"KR","type":"education","lineage":["https://openalex.org/I197347611"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jae-Bok Song","raw_affiliation_strings":["Korea University, South Korea","Korea University [Seoul]"],"affiliations":[{"raw_affiliation_string":"Korea University, South Korea","institution_ids":["https://openalex.org/I197347611"]},{"raw_affiliation_string":"Korea University [Seoul]","institution_ids":["https://openalex.org/I197347611"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5079671388"],"corresponding_institution_ids":["https://openalex.org/I197347611"],"apc_list":null,"apc_paid":null,"fwci":0.4844,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.6953814,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"73","last_page":"78"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9966999888420105,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9966999888420105,"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":0.9866999983787537,"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/T14335","display_name":"Educational Robotics and Engineering","score":0.9703999757766724,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.7010201215744019},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.6297038793563843},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6000075340270996},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5919135212898254},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.5777126550674438},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5687204003334045},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5466355681419373},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5066179037094116},{"id":"https://openalex.org/keywords/four-bar-linkage","display_name":"Four-bar linkage","score":0.44714343547821045},{"id":"https://openalex.org/keywords/joint-stiffness","display_name":"Joint stiffness","score":0.4393331706523895},{"id":"https://openalex.org/keywords/slider","display_name":"Slider","score":0.4171367883682251},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3857937753200531},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.36964502930641174},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.24448877573013306},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.1608838438987732},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12728533148765564},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10083171725273132},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.07371208071708679},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.06904569268226624}],"concepts":[{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.7010201215744019},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.6297038793563843},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6000075340270996},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5919135212898254},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.5777126550674438},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5687204003334045},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5466355681419373},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5066179037094116},{"id":"https://openalex.org/C122920182","wikidata":"https://www.wikidata.org/wiki/Q2102938","display_name":"Four-bar linkage","level":3,"score":0.44714343547821045},{"id":"https://openalex.org/C2781415944","wikidata":"https://www.wikidata.org/wiki/Q559210","display_name":"Joint stiffness","level":3,"score":0.4393331706523895},{"id":"https://openalex.org/C2776585123","wikidata":"https://www.wikidata.org/wiki/Q424666","display_name":"Slider","level":2,"score":0.4171367883682251},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3857937753200531},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.36964502930641174},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.24448877573013306},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.1608838438987732},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12728533148765564},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10083171725273132},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07371208071708679},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.06904569268226624},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ichr.2008.4755934","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ichr.2008.4755934","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots","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":9,"referenced_works":["https://openalex.org/W2098194275","https://openalex.org/W2099909431","https://openalex.org/W2117199428","https://openalex.org/W2135057655","https://openalex.org/W2157820065","https://openalex.org/W2169706473","https://openalex.org/W4285719527","https://openalex.org/W6675207047","https://openalex.org/W6682997407"],"related_works":["https://openalex.org/W2170114283","https://openalex.org/W1976100764","https://openalex.org/W2577076436","https://openalex.org/W2366731764","https://openalex.org/W2121363410","https://openalex.org/W1982641994","https://openalex.org/W2035393539","https://openalex.org/W2114209848","https://openalex.org/W2972186296","https://openalex.org/W4285251294"],"abstract_inverted_index":{"In":[0,115],"recent":[1],"years,":[2],"collision":[3,71,83,100,183],"safety":[4,84],"between":[5],"a":[6,9,30,88,99,121,127],"human":[7,26,107],"and":[8,18,52,72,82,132,144,182],"robot":[10,31,89],"has":[11],"drawn":[12],"much":[13],"attention":[14],"as":[15],"service":[16],"robots":[17],"humanoids":[19],"are":[20,49,62,85],"increasingly":[21],"being":[22],"used":[23],"in":[24,137,168],"the":[25,104,151,160,169,172],"environment.":[27],"Safety":[28],"of":[29,126,150,157],"arm":[32,90],"can":[33,66],"be":[34],"achieved":[35],"by":[36],"either":[37],"active":[38,44,76],"or":[39],"passive":[40,55],"compliance":[41,45,56],"system.":[42],"Since":[43,78],"systems":[46,57,65],"with":[47,58],"actuators":[48],"usually":[50],"slow":[51],"expensive,":[53],"several":[54],"purely":[59],"mechanical":[60],"elements":[61],"proposed.":[63],"Passive":[64],"provide":[67],"faster":[68],"response":[69],"to":[70,98,117],"higher":[73],"reliability":[74],"than":[75,103,159],"systems.":[77],"both":[79],"positioning":[80,180],"accuracy":[81,181],"equally":[86],"important,":[87],"should":[91],"have":[92],"very":[93,111],"low":[94],"stiffness":[95,113,149,170],"when":[96,171],"subjected":[97],"force":[101,156,174],"greater":[102],"one":[105],"causing":[106],"injury,":[108],"but":[109,164],"maintain":[110],"high":[112,148],"otherwise.":[114],"order":[116],"implement":[118],"these":[119],"requirements,":[120],"safe":[122],"joint":[123],"mechanism":[124],"composed":[125],"linear":[128],"spring,":[129],"slider-crank":[130],"mechanism,":[131],"4-bar":[133],"linkage":[134],"is":[135],"proposed":[136],"this":[138,176],"research.":[139],"Various":[140],"experiments":[141],"on":[142],"static":[143],"dynamic":[145],"collisions":[146],"show":[147],"SJM":[152],"against":[153],"an":[154,165],"external":[155,173],"less":[158],"pre-determined":[161],"threshold":[162],"force,":[163],"abrupt":[166],"drop":[167],"exceeds":[175],"threshold,":[177],"which":[178],"guarantees":[179],"safety.":[184]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2012,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
